bump revision

Reviewed-on: #376

.gitmodules

@@ -10,9 +10,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "generators/fsfwgen"]
-	path = generators/deps/fsfwgen
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
 [submodule "thirdparty/arcsec_star_tracker"]
 	path = thirdparty/arcsec_star_tracker
 	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git

CHANGELOG.md

@@ -17,6 +17,155 @@ change warranting a new major release:
 
 # [unreleased]
 
+# [v1.27.1] 2023-02-13
+
+## Fixed
+
+- Fix for SPI ComIF: Set transfer size to 0 for failed transfers
+- Fix shadowing issue with locks in MAX31865 low level handler
+
+# [v1.27.0] 2023-02-13
+
+eive-tmtc: v2.12.5
+
+Added EIVE system top mode component. Currently, only SAFE and IDLE mode are
+implemented, and the system does not do more than commanding TCS and ACS
+into the correct modes. It does not have a lot of mode tracking capabilities
+yet because the ACS controller might alternate between SAFE and DETUMBLE.
+It takes around 5-10 seconds for the EIVE system to reach the SAFE mode.
+
+The new system is used at software boot to command the satellite into safe mode
+on each reboot. This behaviour can be disabled with the
+`OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP` flag.
+
+## Added
+
+- New EIVE system component like explained above.
+
+## Changed
+
+- The satellite now commands itself into SAFE mode on each reboot, which
+  triggers a lot of events on each SW reboot. The TCS subsystem will commanded
+  to NORMAL mode immediately while the ACS subsystem will be commanded to
+  SAFE mode. The payload subsystem will be commanded OFF.
+- `RELEASE_BUILD` flag moved to `commonConfig.h`
+- The ACS subsystem transitions are now staggered: The SUS board assembly
+  is commanded as a separate transition. This reduces the risk of long bus lockups.
+- No INFO mode event translations for release builds to reduce number of
+  printouts.
+- More granular locking inside the MAX31865 low level read handler.
+
+## Fixed
+
+- More DHB thermal module fixes.
+- ACS PST frequency extended to 0.8 seconds in debug builds to avoid SPI
+  bus lockups.
+- Local datapool fixes for the `PlocSupervisorHandler`
+
+# [v1.26.4] 2023-02-10
+
+eive-tmtc: v2.12.3
+
+## Fixed
+
+- `SdCardManager.cpp` `isSdCardUsable`: Use `ext4` instead of `vfat` to check read-only state.
+
+# [v1.26.3] 2023-02-09
+
+eive-tmtc: v2.12.2
+
+## Added
+
+- First version of a TCS controller heater control loop, but
+  the loop is disabled for now.
+
+## Changed
+
+- Reworked dummy handling for the TCS controller.
+- Generator scripts now generate files for hosted and for Q7S build.
+
+## Fixed
+
+- GPS Controller: Set fix value to 0 when switching off to allow
+  `GPS_FIX_CHANGE` to work when switching the GPS back on.
+
+# [v1.26.2] 2023-02-08
+
+## Changed
+
+- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
+  that scheduling is done in big blocks to reduce risk of missed deadlines.
+- Replaced chained locks for polling new sensor data to the `AcsController`.
+- Made TM store even larger.
+
+## Fixed
+
+- Bugfix for PDEC handler which causes the PIR register of the PDEC to never
+  be cleared on release builds. The dummy variable used to read the register
+  needs to be declared volatile to avoid compiler optimizations.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/374
+- Bumped FSFW for fix of possible memory leaks in TCP/IP TMTC bridge
+  inside the FSFW.
+
+## Added
+
+- Create TCS controller for EM build.
+
+# [v1.26.1] 2023-02-08
+
+- Initialize parameter helper in ACS controller.
+
+# [v1.26.0] 2023-02-08
+
+eive-tmtc v2.12.1
+
+## Changed
+
+### ACS
+
+- Readded calibration matrices for MGM calibration.
+- Added calculation of satellite velocity vector from GPS position data
+- Added detumble mode using GYR values
+- Added inertial pointing mode
+- Added nadir pointing mode
+- Added ground station target mode
+- Added antistiction for RWs
+- Added `sunTargetSafe` differentiation for LEOP
+- Added check for existance of `SD_0_SKEWED_PTG_FILE` and `SD_1_SKEWED_PTG_FILE` to determine
+  which `sunTargetSafe` to use
+- Added `gpsVelocity` and `gpsPosition` to `gpsProcessed`
+- Removed deprecated `OutputValues`
+- Added `HasParametersIF` to `AcsParameters`
+- Added `ReceivesParameterMessagesIF` and `ParameterHelper` to `AcsController`
+- Updated `AcsParameters` with actual values and changed structure
+- Sun vector model and magnetic field vector model calculations are always executed now
+- `domainId` is now used as identifier for parameter structs
+- Changed onboard GYR value handling from deg/s to rad/s
+
+## Fixed
+
+- Single sourcing the version information into `CMakeLists.txt`. The `git describe` functionality
+  is only used to retrieve the git SHA hash now. Also removed `OBSWVersion.h` accordingly.
+- Build system: Fixed small bug, where the version itself was
+  stored as the git SHA hash in `commonConfig.h`. This will be
+  an empty string now for regular versions.
+- Bump FSFW for important fix in PUS mode service.
+
+### ACS
+
+- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
+  transformed in body RF. However, the calibration values are in the body RF. Also fixed the
+  validity flag of 'mgmVecTotDerivative'.
+- Fixed calculation of model sun vector
+- Fixed calculation of model magnetic field vector
+- Fixed MEKF algorithm
+- Fixed several variable initializations
+- Fixed several variable types
+- Fixed use of `sunMagAngleMin` for safe mode
+- Fixed MEKF not using correct `sampleTime`
+- Fixed assignment of `SUS0` and `SUS6` calibration matrices due to wiring being mixed up
+- Various smaller bugfixes
+
 # [v1.25.0] 2023-02-06
 
 eive-tmtc version: v2.12.0
@@ -52,6 +201,10 @@ eive-tmtc version: v2.12.0
 
 ## Changed
 
+- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
+  timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
+  will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
 - `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
 - ACS Subsystem Sequence Mode IDs updated.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 25)
-set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MAJOR 1)
+set(OBSW_VERSION_MINOR 27)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -168,10 +168,13 @@ if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
     set(GIT_INFO
         ${GIT_INFO}
         CACHE STRING "Version information retrieved with git describe")
-    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
-    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
-    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
-    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    # CMakeLists.txt is now single source of information. list(GET GIT_INFO 1
+    # OBSW_VERSION_MAJOR) list(GET GIT_INFO 2 OBSW_VERSION_MINOR) list(GET
+    # GIT_INFO 3 OBSW_VERSION_REVISION)
+    list(LENGTH GIT_INFO LIST_LEN)
+    if(LIST_LEN GREATER 4)
+      list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    endif()
     if(NOT OBSW_VERSION_MAJOR)
       set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
     endif()
@@ -301,6 +304,14 @@ else()
   endif()
 endif()
 
+include(BuildType)
+set_build_type()
+
+set(FSFW_DEBUG_INFO 0)
+if(RELEASE_BUILD MATCHES 0)
+  set(FSFW_DEBUG_INFO 1)
+endif()
+
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@@ -559,6 +570,3 @@ add_custom_command(
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
   COMMENT ${POST_BUILD_COMMENT})
-
-include(BuildType)
-set_build_type()

bsp_hosted/OBSWConfig.h.in

@@ -7,7 +7,6 @@
 #define FSFWCONFIG_OBSWCONFIG_H_
 
 #include "commonConfig.h"
-#include "OBSWVersion.h"
     
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */

bsp_hosted/ObjectFactory.cpp

@@ -9,11 +9,8 @@
 #include <objects/systemObjectList.h>
 
 #include "OBSWConfig.h"
-#include "devConf.h"
-#include "eive/definitions.h"
 #include "fsfw/platform.h"
 #include "fsfw_tests/integration/task/TestTask.h"
-#include "tmtc/pusIds.h"
 
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -24,29 +21,12 @@
 #include "fsfw/osal/common/TcpTmTcServer.h"
 #endif
 
-#include <fsfw/tmtcpacket/pus/tm.h>
-
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif
 
 #include <dummies/AcuDummy.h>
-#include <dummies/BpxDummy.h>
-#include <dummies/ComCookieDummy.h>
-#include <dummies/ComIFDummy.h>
 #include <dummies/CoreControllerDummy.h>
-#include <dummies/GyroAdisDummy.h>
-#include <dummies/GyroL3GD20Dummy.h>
-#include <dummies/ImtqDummy.h>
-#include <dummies/MgmLIS3MDLDummy.h>
-#include <dummies/P60DockDummy.h>
-#include <dummies/PduDummy.h>
-#include <dummies/PlPcduDummy.h>
-#include <dummies/RwDummy.h>
-#include <dummies/StarTrackerDummy.h>
-#include <dummies/SusDummy.h>
-#include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 
 #include "dummies/helpers.h"
 #include "mission/utility/GlobalConfigHandler.h"
@@ -80,7 +60,7 @@ void ObjectFactory::produce(void* args) {
   CfdpTmFunnel* cfdpFunnel;
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel);
 
-  DummyGpioIF* dummyGpioIF = new DummyGpioIF();
+  auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
   static_cast<void>(dummyGpioIF);
 #ifdef PLATFORM_UNIX
@@ -110,6 +90,14 @@ void ObjectFactory::produce(void* args) {
 
   dummy::DummyCfg cfg;
   dummy::createDummies(cfg, *dummySwitcher);
-  new ThermalController(objects::THERMAL_CONTROLLER);
+
+  HeaterHandler* heaterHandler = nullptr;
+  // new ThermalController(objects::THERMAL_CONTROLLER);
+  ObjectFactory::createGenericHeaterComponents(*dummyGpioIF, *dummySwitcher, heaterHandler);
+  if (heaterHandler == nullptr) {
+    sif::error << "HeaterHandler could not be created" << std::endl;
+  } else {
+    ObjectFactory::createThermalController(*heaterHandler);
+  }
   new TestTask(objects::TEST_TASK);
 }

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 239 translations.
+ * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2022-11-16 15:25:08
+ * Generated on: 2023-02-13 10:07:30
  */
 #include "translateEvents.h"
 
@@ -82,6 +82,7 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
@@ -89,6 +90,8 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *STORE_ERROR_STRING = "STORE_ERROR";
 const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
 const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
+const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
+const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@@ -135,7 +138,7 @@ const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
 const char *SUPV_HELPER_EXECUTING_STRING = "SUPV_HELPER_EXECUTING";
-const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
+const char *SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUTDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
@@ -147,7 +150,8 @@ const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
 const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
 const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
-const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
+const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
+const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -197,6 +201,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@@ -227,11 +232,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
 const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
 const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
-const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
-const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@@ -240,6 +242,20 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
 const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
 const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
+const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
+const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
+const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
+const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
+const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
+const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -398,6 +414,8 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
+      return CLOCK_DUMP_STRING;
+    case (8902):
       return CLOCK_SET_FAILURE_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
@@ -411,6 +429,10 @@ const char *translateEvents(Event event) {
       return MSG_QUEUE_ERROR_STRING;
     case (10802):
       return SERIALIZATION_ERROR_STRING;
+    case (11200):
+      return SAFE_RATE_VIOLATION_STRING;
+    case (11201):
+      return SAFE_RATE_RECOVERY_STRING;
     case (11300):
       return SWITCH_CMD_SENT_STRING;
     case (11301):
@@ -504,7 +526,7 @@ const char *translateEvents(Event event) {
     case (12007):
       return SUPV_HELPER_EXECUTING_STRING;
     case (12008):
-      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
+      return SUPV_MPSOC_SHUTDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
@@ -528,7 +550,9 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_ERROR_PDEC_STRING;
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12408):
+      return WRITE_SYSCALL_ERROR_PDEC_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -627,6 +651,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -687,16 +713,10 @@ const char *translateEvents(Event event) {
       return HDLC_FRAME_REMOVAL_ERROR_STRING;
     case (13632):
       return HDLC_CRC_ERROR_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
     case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
     case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
+      return TX_OFF_STRING;
     case (13800):
       return MISSING_PACKET_STRING;
     case (13801):
@@ -713,6 +733,34 @@ const char *translateEvents(Event event) {
       return WRITE_CONFIGFILE_FAILED_STRING;
     case (13905):
       return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
+    case (14100):
+      return NO_VALID_SENSOR_TEMPERATURE_STRING;
+    case (14101):
+      return NO_HEALTHY_HEATER_AVAILABLE_STRING;
+    case (14102):
+      return SYRLINKS_OVERHEATING_STRING;
+    case (14103):
+      return PLOC_OVERHEATING_STRING;
+    case (14104):
+      return OBC_OVERHEATING_STRING;
+    case (14105):
+      return HPA_OVERHEATING_STRING;
+    case (14106):
+      return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -24,7 +24,7 @@ enum sourceObjects : uint32_t {
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000001,
 
-  DUMMY_COM_IF = 0x49000002
+  DUMMY_COM_IF = 0x49000002,
 };
 }
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,16 +1,17 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 148 translations.
- * Generated on: 2022-11-15 17:44:20
+ * Contains 147 translations.
+ * Generated on: 2023-02-13 10:07:30
  */
 #include "translateObjects.h"
 
-const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
+const char *TEST_TASK_STRING = "TEST_TASK";
 const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
 const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
@@ -63,7 +64,6 @@ const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
 const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
 const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
 const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
-const char *TMP1075_HANDLER_OBC_IF_BOARD_STRING = "TMP1075_HANDLER_OBC_IF_BOARD";
 const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
 const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
 const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
@@ -80,26 +80,29 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *GPIO_IF_STRING = "GPIO_IF";
+const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
-const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
-const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
 const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
-const char *I2C_COM_IF_STRING = "I2C_COM_IF";
-const char *CSP_COM_IF_STRING = "CSP_COM_IF";
 const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
 const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
-const char *TMTC_BRIDGE_STRING = "TMTC_BRIDGE";
-const char *TMTC_POLLING_TASK_STRING = "TMTC_POLLING_TASK";
+const char *TCP_TMTC_SERVER_STRING = "TCP_TMTC_SERVER";
+const char *UDP_TMTC_SERVER_STRING = "UDP_TMTC_SERVER";
+const char *TCP_TMTC_POLLING_TASK_STRING = "TCP_TMTC_POLLING_TASK";
+const char *UDP_TMTC_POLLING_TASK_STRING = "UDP_TMTC_POLLING_TASK";
 const char *FILE_SYSTEM_HANDLER_STRING = "FILE_SYSTEM_HANDLER";
 const char *SDC_MANAGER_STRING = "SDC_MANAGER";
 const char *PTME_STRING = "PTME";
 const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
 const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
+const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
+const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
+const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
+const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@@ -123,14 +126,6 @@ const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
 const char *VERIFICATION_REPORTER_STRING = "VERIFICATION_REPORTER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
-const char *SPI_TEST_STRING = "SPI_TEST";
-const char *UART_TEST_STRING = "UART_TEST";
-const char *I2C_TEST_STRING = "I2C_TEST";
-const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
-const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
-const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
-const char *TEST_TASK_STRING = "TEST_TASK";
 const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
 const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
 const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
@@ -152,13 +147,17 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
+const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
+const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
+const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
   switch ((object & 0xFFFFFFFF)) {
-    case 0x00005060:
-      return P60DOCK_TEST_TASK_STRING;
+    case 0x42694269:
+      return TEST_TASK_STRING;
     case 0x43000002:
       return ACS_CONTROLLER_STRING;
     case 0x43000003:
@@ -167,6 +166,8 @@ const char *translateObject(object_id_t object) {
       return GLOBAL_JSON_CFG_STRING;
     case 0x43400001:
       return THERMAL_CONTROLLER_STRING;
+    case 0x44000001:
+      return DUMMY_HANDLER_STRING;
     case 0x44120006:
       return MGM_0_LIS3_HANDLER_STRING;
     case 0x44120010:
@@ -271,8 +272,6 @@ const char *translateObject(object_id_t object) {
       return TMP1075_HANDLER_PLPCDU_1_STRING;
     case 0x44420008:
       return TMP1075_HANDLER_IF_BOARD_STRING;
-    case 0x44420009:
-      return TMP1075_HANDLER_OBC_IF_BOARD_STRING;
     case 0x44420016:
       return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
     case 0x44420017:
@@ -306,33 +305,29 @@ const char *translateObject(object_id_t object) {
     case 0x44420031:
       return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
-    case 0x49000000:
+      return SYRLINKS_HANDLER_STRING;
+    case 0x49000001:
       return ARDUINO_COM_IF_STRING;
-    case 0x49010005:
-      return GPIO_IF_STRING;
+    case 0x49000002:
+      return DUMMY_COM_IF_STRING;
     case 0x49010006:
       return SCEX_UART_READER_STRING;
-    case 0x49020004:
-      return SPI_MAIN_COM_IF_STRING;
-    case 0x49020005:
-      return SPI_RW_COM_IF_STRING;
     case 0x49020006:
       return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
-    case 0x49040002:
-      return I2C_COM_IF_STRING;
-    case 0x49050001:
-      return CSP_COM_IF_STRING;
     case 0x50000100:
       return CCSDS_PACKET_DISTRIBUTOR_STRING;
     case 0x50000200:
       return PUS_PACKET_DISTRIBUTOR_STRING;
     case 0x50000300:
-      return TMTC_BRIDGE_STRING;
+      return TCP_TMTC_SERVER_STRING;
+    case 0x50000301:
+      return UDP_TMTC_SERVER_STRING;
     case 0x50000400:
-      return TMTC_POLLING_TASK_STRING;
+      return TCP_TMTC_POLLING_TASK_STRING;
+    case 0x50000401:
+      return UDP_TMTC_POLLING_TASK_STRING;
     case 0x50000500:
       return FILE_SYSTEM_HANDLER_STRING;
     case 0x50000550:
@@ -343,8 +338,18 @@ const char *translateObject(object_id_t object) {
       return PDEC_HANDLER_STRING;
     case 0x50000800:
       return CCSDS_HANDLER_STRING;
+    case 0x51000300:
+      return PUS_SERVICE_3_STRING;
+    case 0x51000400:
+      return PUS_SERVICE_5_STRING;
     case 0x51000500:
       return PUS_SERVICE_6_STRING;
+    case 0x51000800:
+      return PUS_SERVICE_8_STRING;
+    case 0x51002300:
+      return PUS_SERVICE_23_STRING;
+    case 0x51020100:
+      return PUS_SERVICE_201_STRING;
     case 0x53000000:
       return FSFW_OBJECTS_START_STRING;
     case 0x53000001:
@@ -391,22 +396,6 @@ const char *translateObject(object_id_t object) {
       return VERIFICATION_REPORTER_STRING;
     case 0x53ffffff:
       return FSFW_OBJECTS_END_STRING;
-    case 0x54000010:
-      return SPI_TEST_STRING;
-    case 0x54000020:
-      return UART_TEST_STRING;
-    case 0x54000030:
-      return I2C_TEST_STRING;
-    case 0x54000040:
-      return DUMMY_COM_IF_STRING;
-    case 0x5400AFFE:
-      return DUMMY_HANDLER_STRING;
-    case 0x5400CAFE:
-      return DUMMY_INTERFACE_STRING;
-    case 0x54123456:
-      return LIBGPIOD_TEST_STRING;
-    case 0x54694269:
-      return TEST_TASK_STRING;
     case 0x60000000:
       return HEATER_0_PLOC_PROC_BRD_STRING;
     case 0x60000001:
@@ -449,8 +438,16 @@ const char *translateObject(object_id_t object) {
       return ACS_SUBSYSTEM_STRING;
     case 0x73010002:
       return PL_SUBSYSTEM_STRING;
+    case 0x73010003:
+      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
+    case 0x90000003:
+      return THERMAL_TEMP_INSERTER_STRING;
+    case 0xCAFECAFE:
+      return DUMMY_INTERFACE_STRING;
     case 0xFFFFFFFF:
       return NO_OBJECT_STRING;
     default:

bsp_hosted/fsfwconfig/returnvalues/classIds.h

@@ -13,6 +13,7 @@
 namespace CLASS_ID {
 enum {
   CLASS_ID_START = COMMON_CLASS_ID_END,
+  CLASS_ID_END  // [EXPORT] : [END]
 };
 }
 

bsp_hosted/scheduling.cpp

@@ -14,6 +14,7 @@
 
 #include "OBSWConfig.h"
 #include "ObjectFactory.h"
+#include "mission/core/scheduling.h"
 #include "scheduling.h"
 
 #ifdef LINUX
@@ -55,26 +56,30 @@ void scheduling::initTasks() {
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
-      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "adding CCSDS distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "adding PUS distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
   if (result != returnvalue::OK) {
-    sif::error << "Object add component failed" << std::endl;
+    sif::error << "adding TM funnel failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
+  if (result != returnvalue::OK) {
+    sif::error << "adding CFDP distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
   if (result != returnvalue::OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "adding UDP server failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
   if (result != returnvalue::OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "adding TCP server failed" << std::endl;
   }
 
   PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
@@ -165,6 +170,15 @@ void scheduling::initTasks() {
     sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
   }
 
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
+      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
+  }
+#endif
+
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
       "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
@@ -186,6 +200,8 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
       "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  scheduling::scheduleTmpTempSensors(dummyTask);
+  scheduling::scheduleRtdSensors(dummyTask);
   dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
   dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
@@ -198,22 +214,6 @@ void scheduling::initTasks() {
   dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
   dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
   dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
-  dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
-  dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
-  dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
-  dummyTask->addComponent(objects::RTD_6_IC9_DRO);
-  dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
-  dummyTask->addComponent(objects::RTD_8_IC11_X8);
-  dummyTask->addComponent(objects::RTD_9_IC12_HPA);
-  dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
-  dummyTask->addComponent(objects::RTD_11_IC14_MPA);
-  dummyTask->addComponent(objects::RTD_12_IC15_ACU);
-  dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
-  dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
-  dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);
 
   sif::info << "Starting tasks.." << std::endl;
   tmtcDistributor->startTask();
@@ -235,6 +235,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
   plTask->startTask();
 #endif
+#if OBSW_ADD_CFDP_COMPONENTS == 1
+  cfdpTask->startTask();
+#endif
 
 #if OBSW_ADD_TEST_CODE == 1
   testTask->startTask();

bsp_q7s/OBSWConfig.h.in

@@ -8,12 +8,17 @@
 
 #include "commonConfig.h"
 #include "q7sConfig.h"
-#include "OBSWVersion.h"
 
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
+#define OBSW_ENABLE_PERIODIC_HK                     0
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+// This switch will cause the SW to command the EIVE system object to safe mode. This will
+// trigger a lot of events, so it can make sense to disable this for debugging purposes
+#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
+
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
@@ -40,25 +45,23 @@
 #define OBSW_TM_TO_PTME                             @OBSW_TM_TO_PTME@
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           @OBSW_TC_FROM_PDEC@
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 
 // Configuration parameter which causes the core controller to try to keep at least one SD card
 // working
 #define OBSW_SD_CARD_MUST_BE_ON                     1
 #define OBSW_ENABLE_TIMERS                          1
 
-// This is a really tricky switch.. It initializes the PCDU switches to their default states
-// at powerup. I think it would be better
-// to leave it off for now. It makes testing a lot more difficult and it might mess with
-// something the operators might want to do by giving the software too much intelligence
-// at the wrong place. The system component might command all the Switches accordingly anyway
-#define OBSW_INITIALIZE_SWITCHES                    0
-#define OBSW_ENABLE_PERIODIC_HK                     0
-
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
 /*******************************************************************/
 
+// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
+// because UDP packets are not allowed in the VPN
+// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
+// CCSDS IP Cores. 
+#define OBSW_ADD_TMTC_TCP_SERVER                    1
+#define OBSW_ADD_TMTC_UDP_SERVER                    1
+
 // Can be used to switch device to NORMAL mode immediately
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
 #define OBSW_PRINT_MISSED_DEADLINES                 1
@@ -120,13 +123,6 @@
 /** CMake Defines                                                  */
 /*******************************************************************/
 
-// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
-// because UDP packets are not allowed in the VPN
-// This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
-// CCSDS IP Cores. 
-#define OBSW_ADD_TMTC_TCP_SERVER            1
-#define OBSW_ADD_TMTC_UDP_SERVER            1
-
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,7 +3,7 @@
 
 #include <libgpsmm.h>
 
-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"
 
 class CoreController;
 

bsp_q7s/core/CoreController.cpp

@@ -5,7 +5,7 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/tasks/TaskFactory.h>
 
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
@@ -179,6 +179,26 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t *data, size_t size) {
   switch (actionId) {
+    case (ANNOUNCE_VERSION): {
+      uint32_t p1 = (common::OBSW_VERSION_MAJOR << 24) | (common::OBSW_VERSION_MINOR << 16) |
+                    (common::OBSW_VERSION_REVISION << 8);
+      uint32_t p2 = 0;
+      if (strcmp("", common::OBSW_VERSION_CST_GIT_SHA1) != 0) {
+        p1 |= 1;
+        auto shaAsStr = std::string(common::OBSW_VERSION_CST_GIT_SHA1);
+        size_t posDash = shaAsStr.find("-");
+        auto gitHash = shaAsStr.substr(posDash + 2, 4);
+        // Only copy first 4 letters of git hash
+        memcpy(&p2, gitHash.c_str(), 4);
+      }
+
+      triggerEvent(VERSION_INFO, p1, p2);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (ANNOUNCE_CURRENT_IMAGE): {
+      triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     case (LIST_DIRECTORY_INTO_FILE): {
       return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
     }
@@ -673,9 +693,9 @@ ReturnValue_t CoreController::initVersionFile() {
     sif::warning << "CoreController::versionFileInit: Retrieving uname line failed" << std::endl;
   }
 
-  std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
-                                      std::to_string(SW_SUBVERSION) + "." +
-                                      std::to_string(SW_REVISION);
+  std::string fullObswVersionString = "OBSW: v" + std::to_string(common::OBSW_VERSION_MAJOR) + "." +
+                                      std::to_string(common::OBSW_VERSION_MINOR) + "." +
+                                      std::to_string(common::OBSW_VERSION_REVISION);
   char versionString[16] = {};
   fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
   std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);

bsp_q7s/core/CoreController.h

@@ -74,6 +74,8 @@ class CoreController : public ExtendedControllerBase {
   static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t ANNOUNCE_VERSION = 1;
+  static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
   static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
@@ -109,6 +111,12 @@ class CoreController : public ExtendedControllerBase {
   //! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
   //! a SD card.
   static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
+  //! [EXPORT] : [COMMENT]
+  //! P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash
+  //! P2: First four letters of Git SHA is the last byte of P1 is set.
+  static constexpr Event VERSION_INFO = event::makeEvent(SUBSYSTEM_ID, 5, severity::INFO);
+  //! [EXPORT] : [COMMENT] P1: Current Chip, P2: Current Copy
+  static constexpr Event CURRENT_IMAGE_INFO = event::makeEvent(SUBSYSTEM_ID, 6, severity::INFO);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();

bsp_q7s/core/ObjectFactory.cpp

@@ -347,6 +347,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   SpiCookie* spiCookie =
       new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                     spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
       objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
@@ -362,6 +363,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   spiCookie =
       new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto mgmRm3100Handler1 =
       new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                            spi::RM3100_TRANSITION_DELAY);
@@ -378,6 +380,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   spiCookie =
       new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                     spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
       objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
@@ -393,6 +396,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   spiCookie =
       new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto* mgmRm3100Handler3 =
       new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                            spi::RM3100_TRANSITION_DELAY);
@@ -411,6 +415,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   spiCookie =
       new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto adisHandler =
       new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
                                ADIS1650X::Type::ADIS16505);
@@ -427,6 +432,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   // Gyro 1 Side A
   spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
       objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
@@ -443,6 +449,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   spiCookie =
       new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
                     spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
@@ -455,6 +462,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
   // Gyro 3 Side B
   spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
   auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
       objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
@@ -497,7 +505,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
 }
 
 void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
-                                           HealthTableIF* healthTable) {
+                                           HealthTableIF* healthTable,
+                                           HeaterHandler*& heaterHandler) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -540,19 +549,7 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
 
   gpioIF->addGpios(heaterGpiosCookie);
 
-  HeaterHelper helper({{
-      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
-       gpioIds::HEATER_0},
-      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
-      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
-      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
-      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
-      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
-      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
-      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
-  }});
-  new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
-                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+  ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
@@ -937,6 +934,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->enableThermalModule(ThermalStateCfg());
   imtqHandler->setPowerSwitcher(pwrSwitcher);
   imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   static_cast<void>(imtqHandler);

bsp_q7s/core/ObjectFactory.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 #include <fsfw/returnvalues/returnvalue.h>
+#include <mission/devices/HeaterHandler.h>
 #include <mission/system/objects/Stack5VHandler.h>
 #include <mission/tmtc/CcsdsIpCoreHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
@@ -33,7 +34,8 @@ void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
+                            HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher);
 void createBpxBatteryComponent();
 void createStrComponents(PowerSwitchIF* pwrSwitcher);

bsp_q7s/core/scheduling.cpp

@@ -17,6 +17,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/core/scheduling.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
@@ -79,16 +80,12 @@ void scheduling::initTasks() {
   }
 #endif
 
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
-  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
-  }
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -143,14 +140,23 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* comTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
+      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+    scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
   }
+  result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
+  }
+
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  result = comTask->addComponent(objects::CCSDS_HANDLER);
+  result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
@@ -183,15 +189,12 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_GPS_CTRL */
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   static_cast<void>(acsSysTask);
-  // To be removed soon because it will be part of the ACS PST.
-#if OBSW_ADD_ACS_CTRL == 1
-  acsSysTask->addComponent(objects::ACS_CONTROLLER);
+  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
+    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
-#endif
 #if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
@@ -210,76 +213,18 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
-  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
-  }
 
-#if OBSW_Q7S_EM == 1
-  acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
-  acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
-  acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
-  acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
-  acsSysTask->addComponent(objects::IMTQ_HANDLER);
-  acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
-  acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
-  acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
-  acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
-  acsSysTask->addComponent(objects::GPS_CONTROLLER);
-  acsSysTask->addComponent(objects::STAR_TRACKER);
-  acsSysTask->addComponent(objects::RW1);
-  acsSysTask->addComponent(objects::RW2);
-  acsSysTask->addComponent(objects::RW3);
-  acsSysTask->addComponent(objects::RW4);
-#endif
 #if OBSW_ADD_RTD_DEVICES == 1
   PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
-      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+      "TCS_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
   result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
 
   PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
-      objects::RTD_0_IC3_PLOC_HEATSPREADER,
-      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
-      objects::RTD_2_IC5_4K_CAMERA,
-      objects::RTD_3_IC6_DAC_HEATSPREADER,
-      objects::RTD_4_IC7_STARTRACKER,
-      objects::RTD_5_IC8_RW1_MX_MY,
-      objects::RTD_6_IC9_DRO,
-      objects::RTD_7_IC10_SCEX,
-      objects::RTD_8_IC11_X8,
-      objects::RTD_9_IC12_HPA,
-      objects::RTD_10_IC13_PL_TX,
-      objects::RTD_11_IC14_MPA,
-      objects::RTD_12_IC15_ACU,
-      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
-      objects::RTD_14_IC17_TCS_BOARD,
-      objects::RTD_15_IC18_IMTQ,
-  };
-
-  for (const auto& rtd : rtdIds) {
-    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
-    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
-  }
+      "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  scheduling::scheduleRtdSensors(tcsTask);
 #endif
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
@@ -348,7 +293,8 @@ void scheduling::initTasks() {
   std::vector<PeriodicTaskIF*> pusTasks;
   createPusTasks(*factory, missedDeadlineFunc, pusTasks);
   std::vector<PeriodicTaskIF*> pstTasks;
-  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+  AcsPstCfg cfg;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
 
 #if OBSW_ADD_TEST_CODE == 1
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -385,12 +331,12 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  comTask->startTask();
+  genericSysTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
-  sysTask->startTask();
+  coreCtrlTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif
@@ -438,13 +384,32 @@ void scheduling::initTasks() {
 }
 
 void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                std::vector<PeriodicTaskIF*>& taskVec) {
+                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
   ReturnValue_t result = returnvalue::OK;
+
+#ifdef RELEASE_BUILD
+  static constexpr float acsPstPeriod = 0.4;
+#else
+  static constexpr float acsPstPeriod = 0.8;
+#endif
+  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  result = pst::pstAcs(acsPst, cfg);
+  if (result != returnvalue::OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
+    } else {
+      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(acsPst);
+  }
+
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpi(spiPst);
+      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstSpiAndSyrlinks(spiPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@@ -456,37 +421,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   }
 #endif
 
-#if OBSW_ADD_RW == 1
-  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
-      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-  result = pst::pstSpiRw(rwPstTask);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(rwPstTask);
-  }
-#endif
-
-  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
-  result = pst::pstUart(uartPst);
-  if (result != returnvalue::OK) {
-    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
-      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
-    } else {
-      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
-    }
-  } else {
-    taskVec.push_back(uartPst);
-  }
-
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -501,7 +438,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
   if (result != returnvalue::OK) {
     if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

bsp_q7s/core/scheduling.h

@@ -1,10 +1,14 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
+#include <pollingsequence/pollingSequenceFactory.h>
+
 #include <vector>
 
 #include "fsfw/tasks/definitions.h"
 
+using pst::AcsPstCfg;
+
 class PeriodicTaskIF;
 class TaskFactory;
 
@@ -13,7 +17,7 @@ void initMission();
 void initTasks();
 
 void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
+                    std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,

bsp_q7s/em/emObjectFactory.cpp

@@ -43,6 +43,9 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
 #endif
+#if OBSW_ADD_ACS_BOARD == 1
+  dummyCfg.addAcsBoardDummies = false;
+#endif
 
   PowerSwitchIF* pwrSwitcher = nullptr;
 #if OBSW_ADD_GOMSPACE_PCDU == 0
@@ -109,5 +112,8 @@ void ObjectFactory::produce(void* args) {
                        pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
   createAcsController(true);
+  HeaterHandler* heaterHandler = nullptr;
+  ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
+  createThermalController(*heaterHandler);
   satsystem::com::init();
 }

bsp_q7s/fmObjectFactory.cpp

@@ -45,7 +45,8 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  HeaterHandler* heaterHandler;
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
 #if OBSW_ADD_TMP_DEVICES == 1
   createTmpComponents();
 #endif
@@ -87,7 +88,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController();
+  createThermalController(*heaterHandler);
   createAcsController(true);
   satsystem::init();
 }

bsp_q7s/fs/SdCardManager.cpp

@@ -505,9 +505,9 @@ bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
 ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
   std::ostringstream command;
   if (sdcard == sd::SdCard::SLOT_0) {
-    command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_0_MOUNT_POINT << " ext4 ro,' /proc/mounts";
   } else if (sdcard == sd::SdCard::SLOT_1) {
-    command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+    command << "grep -q '" << config::SD_1_MOUNT_POINT << " ext4 ro,' /proc/mounts";
   } else {
     return returnvalue::FAILED;
   }

bsp_q7s/obsw.cpp

@@ -13,6 +13,8 @@
 #include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "mission/acsDefs.h"
+#include "mission/system/tree/system.h"
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
@@ -72,6 +74,18 @@ int obsw::obsw() {
 
   scheduling::initMission();
 
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
+  // Command the EIVE system to safe mode
+  auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
+  CommandMessage msg;
+  ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+  }
+#endif
+
   for (;;) {
     /* Suspend main thread by sleeping it. */
     TaskFactory::delayTask(5000);

cmake/BuildType.cmake

@@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 	)
 endif()
 
+set(RELEASE_BUILD 1 PARENT_SCOPE)
+
 if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
 	message(STATUS 
 		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
 	)
+	set(RELEASE_BUILD 0 PARENT_SCOPE)
 elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
 	message(STATUS 
 		"Building Release (Debug) application with "

cmake/EiveHelpers.cmake

@@ -4,7 +4,7 @@
 # 2. Major version
 # 3. Minor version
 # 4. Revision
-# 5. git SHA hash and commits since tag
+# 5. (Optional) git SHA hash and commits since tag when applicable
 function(determine_version_with_git)
     include(GetGitRevisionDescription)
     git_describe(VERSION ${ARGN})
@@ -22,7 +22,9 @@ function(determine_version_with_git)
     list(APPEND GIT_INFO ${_VERSION_MAJOR})
     list(APPEND GIT_INFO ${_VERSION_MINOR})
     list(APPEND GIT_INFO ${_VERSION_PATCH})
-    list(APPEND GIT_INFO ${VERSION_SHA1})
+    if(NOT VERSION_SHA1 STREQUAL VERSION)
+        list(APPEND GIT_INFO ${VERSION_SHA1})
+    endif()
     set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
     message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()

common/config/OBSWVersion.h

@@ -1,10 +0,0 @@
-#ifndef COMMON_CONFIG_OBSWVERSION_H_
-#define COMMON_CONFIG_OBSWVERSION_H_
-
-const char* const SW_NAME = "eive";
-
-#define SW_VERSION 1
-#define SW_SUBVERSION 12
-#define SW_REVISION 1
-
-#endif /* COMMON_CONFIG_OBSWVERSION_H_ */

common/config/commonConfig.h.in

@@ -4,6 +4,8 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+#cmakedefine RELEASE_BUILD
+
 #cmakedefine RASPBERRY_PI
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK

common/config/devConf.h

@@ -5,6 +5,7 @@
 
 #include <cstdint>
 
+#include "commonConfig.h"
 #include "fsfw/timemanager/clockDefinitions.h"
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/spiDefinitions.h"
@@ -47,10 +48,19 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
-static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
+#ifdef RELEASE_BUILD
+static constexpr uint8_t CS_FACTOR = 1;
+#else
+static constexpr uint8_t CS_FACTOR = 3;
+#endif
+
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 50 * CS_FACTOR;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 
+static constexpr dur_millis_t SUS_CS_TIMEOUT = 50 * CS_FACTOR;
+static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR;
+
 }  // namespace spi
 
 namespace uart {

common/config/devices/heaterSwitcherList.h

@@ -12,7 +12,7 @@ enum Switchers : uint8_t {
   HEATER_4_CAMERA,
   HEATER_5_STR,
   HEATER_6_DRO,
-  HEATER_7_HPA,
+  HEATER_7_S_BAND,
   NUMBER_OF_SWITCHES
 };
 }

common/config/eive/definitions.h

@@ -53,7 +53,20 @@ static constexpr uint8_t VC3_QUEUE_SIZE = 50;
 static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
 
 static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
-static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 150;
+
+namespace acs {
+
+static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15;
+static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40;
+static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45;
+
+// 15 ms for FM
+static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SENSORS_MS) / 400.0;
+static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
+static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
+
+}  // namespace acs
 
 }  // namespace config
 

common/config/eive/eventSubsystemIds.h

@@ -36,6 +36,7 @@ enum : uint8_t {
   SCEX_HANDLER = 138,
   CONFIGHANDLER = 139,
   CORE = 140,
+  TCS_CONTROLLER = 141,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -50,8 +50,7 @@ enum commonObjects : uint32_t {
   TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
   TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
   TMP1075_HANDLER_IF_BOARD = 0x44420008,
-  // Does not exist anymore
-  // TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
+
   PCDU_HANDLER = 0x442000A1,
   P60DOCK_HANDLER = 0x44250000,
   PDU1_HANDLER = 0x44250001,
@@ -152,6 +151,9 @@ enum commonObjects : uint32_t {
   CFDP_TM_FUNNEL = 0x73000102,
   CFDP_HANDLER = 0x73000205,
   CFDP_DISTRIBUTOR = 0x73000206,
+
+  // Other stuff
+  THERMAL_TEMP_INSERTER = 0x90000003,
 };
 }
 

common/config/eive/resultClassIds.h

@@ -35,6 +35,11 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
+  ACS_KALMAN,               // ACSKAL
+  ACS_SAFE,                 // ACSSAF
+  ACS_PTG,                  // ACSPTG
+  ACS_DETUMBLE,             // ACSDTB
+  ACS_MEKF,                 // ACSMEK
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 

dummies/CMakeLists.txt

@@ -1,11 +1,12 @@
 target_sources(
   ${LIB_DUMMIES}
-  PUBLIC TemperatureSensorsDummy.cpp
+  PUBLIC TemperatureSensorInserter.cpp
          SusDummy.cpp
          BpxDummy.cpp
          ComIFDummy.cpp
          ComCookieDummy.cpp
          RwDummy.cpp
+         Max31865Dummy.cpp
          StarTrackerDummy.cpp
          SyrlinksDummy.cpp
          ImtqDummy.cpp
@@ -20,4 +21,5 @@ target_sources(
          PlPcduDummy.cpp
          CoreControllerDummy.cpp
          helpers.cpp
-         MgmRm3100Dummy.cpp)
+         MgmRm3100Dummy.cpp
+         Tmp1075Dummy.cpp)

dummies/ImtqDummy.cpp

@@ -5,7 +5,7 @@
 ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}
 
-ImtqDummy::~ImtqDummy() {}
+ImtqDummy::~ImtqDummy() = default;
 
 void ImtqDummy::doStartUp() {}
 
@@ -43,5 +43,5 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
   localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(IMTQ::MTM_RAW, new PoolEntry<float>({0.12, 0.76, -0.45}, true));
   localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
-  return returnvalue::OK;
+  return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }

dummies/ImtqDummy.h

@@ -12,7 +12,7 @@ class ImtqDummy : public DeviceHandlerBase {
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
   ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
-  virtual ~ImtqDummy();
+  ~ImtqDummy() override;
 
  protected:
   void doStartUp() override;

dummies/Max31865Dummy.cpp

@@ -0,0 +1,45 @@
+#include "Max31865Dummy.h"
+
+using namespace returnvalue;
+
+Max31865Dummy::Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), set(this, EiveMax31855::EXCHANGE_SET_ID) {}
+void Max31865Dummy::doStartUp() { setMode(MODE_ON); }
+void Max31865Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+ReturnValue_t Max31865Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+ReturnValue_t Max31865Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Max31865Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                     const uint8_t *commandData,
+                                                     size_t commandDataLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::scanForReply(const uint8_t *start, size_t len,
+                                          DeviceCommandId_t *foundId, size_t *foundLen) {
+  return 0;
+}
+ReturnValue_t Max31865Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return 0;
+}
+void Max31865Dummy::fillCommandAndReplyMap() {}
+uint32_t Max31865Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
+ReturnValue_t Max31865Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                     LocalDataPoolManager &poolManager) {
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
+  return OK;
+}
+
+void Max31865Dummy::setTemperature(float temperature) {
+  set.temperatureCelcius.value = temperature;
+}
+
+LocalPoolDataSetBase *Max31865Dummy::getDataSetHandle(sid_t sid) { return &set; }
+Max31865Dummy::Max31865Dummy(object_id_t objectId, CookieIF *cookie)
+    : DeviceHandlerBase(objectId, objects::DUMMY_COM_IF, cookie),
+      set(this, EiveMax31855::EXCHANGE_SET_ID) {}

dummies/Max31865Dummy.h

@@ -0,0 +1,33 @@
+#ifndef EIVE_OBSW_MAX31865DUMMY_H
+#define EIVE_OBSW_MAX31865DUMMY_H
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
+class Max31865Dummy : public DeviceHandlerBase {
+ public:
+  Max31865Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  Max31865Dummy(object_id_t objectId, CookieIF *comCookie);
+
+  void setTemperature(float temperature);
+
+ private:
+  MAX31865::PrimarySet set;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};
+
+#endif  // EIVE_OBSW_MAX31865DUMMY_H

dummies/TemperatureSensorInserter.cpp

@@ -0,0 +1,40 @@
+#include "TemperatureSensorInserter.h"
+
+#include <objects/systemObjectList.h>
+
+#include <cmath>
+#include <cstdlib>
+#include <utility>
+
+TemperatureSensorInserter::TemperatureSensorInserter(object_id_t objectId,
+                                                     Max31865DummyMap tempSensorDummies_,
+                                                     Tmp1075DummyMap tempTmpSensorDummies_)
+    : SystemObject(objects::THERMAL_TEMP_INSERTER),
+      max31865DummyMap(std::move(tempSensorDummies_)),
+      tmp1075DummyMap(std::move(tempTmpSensorDummies_)) {}
+
+ReturnValue_t TemperatureSensorInserter::initialize() {
+  if (performTest) {
+    if (testCase == TestCase::COOL_SYRLINKS) {
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t TemperatureSensorInserter::performOperation(uint8_t opCode) {
+  /*
+  ReturnValue_t result = max31865PlocHeatspreaderSet.read();
+  if (result != returnvalue::OK) {
+    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
+  }
+  max31865PlocHeatspreaderSet.rtdValue = value - 5;
+  max31865PlocHeatspreaderSet.temperatureCelcius = value;
+  if ((iteration % 100) < 20) {
+    max31865PlocHeatspreaderSet.setValidity(false, true);
+  } else {
+    max31865PlocHeatspreaderSet.setValidity(true, true);
+  }
+  max31865PlocHeatspreaderSet.commit();
+  */
+  return returnvalue::OK;
+}

dummies/TemperatureSensorInserter.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <mission/devices/devicedefinitions/Max31865Definitions.h>
+
+#include "Max31865Dummy.h"
+#include "Tmp1075Dummy.h"
+
+class TemperatureSensorInserter : public ExecutableObjectIF, public SystemObject {
+ public:
+  using Max31865DummyMap = std::map<object_id_t, Max31865Dummy*>;
+  using Tmp1075DummyMap = std::map<object_id_t, Tmp1075Dummy*>;
+  explicit TemperatureSensorInserter(object_id_t objectId, Max31865DummyMap tempSensorDummies_,
+                                     Tmp1075DummyMap tempTmpSensorDummies_);
+
+  ReturnValue_t initialize() override;
+
+ protected:
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ private:
+  Max31865DummyMap max31865DummyMap;
+  Tmp1075DummyMap tmp1075DummyMap;
+  enum TestCase { NONE = 0, COOL_SYRLINKS = 1 };
+  int iteration = 0;
+  bool performTest = false;
+  TestCase testCase = TestCase::NONE;
+
+  // void noise();
+};

dummies/TemperatureSensorsDummy.cpp

@@ -1,102 +0,0 @@
-#include "TemperatureSensorsDummy.h"
-
-#include <objects/systemObjectList.h>
-
-#include <cmath>
-#include <cstdlib>
-
-TemperatureSensorsDummy::TemperatureSensorsDummy()
-    : ExtendedControllerBase(objects::RTD_0_IC3_PLOC_HEATSPREADER),
-      max31865Set(this, MAX31865::MAX31865_SET_ID) {
-  ObjectManager::instance()->insert(objects::RTD_1_IC4_PLOC_MISSIONBOARD, this);
-  ObjectManager::instance()->insert(objects::RTD_2_IC5_4K_CAMERA, this);
-  ObjectManager::instance()->insert(objects::RTD_3_IC6_DAC_HEATSPREADER, this);
-  ObjectManager::instance()->insert(objects::RTD_4_IC7_STARTRACKER, this);
-  ObjectManager::instance()->insert(objects::RTD_5_IC8_RW1_MX_MY, this);
-  ObjectManager::instance()->insert(objects::RTD_6_IC9_DRO, this);
-  ObjectManager::instance()->insert(objects::RTD_7_IC10_SCEX, this);
-  ObjectManager::instance()->insert(objects::RTD_8_IC11_X8, this);
-  ObjectManager::instance()->insert(objects::RTD_9_IC12_HPA, this);
-  ObjectManager::instance()->insert(objects::RTD_10_IC13_PL_TX, this);
-  ObjectManager::instance()->insert(objects::RTD_11_IC14_MPA, this);
-  ObjectManager::instance()->insert(objects::RTD_12_IC15_ACU, this);
-  ObjectManager::instance()->insert(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, this);
-  ObjectManager::instance()->insert(objects::RTD_14_IC17_TCS_BOARD, this);
-  ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
-
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_0, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_PLPCDU_1, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_IF_BOARD, this);
-}
-
-ReturnValue_t TemperatureSensorsDummy::initialize() {
-  static bool done = false;
-  if (not done) {
-    done = true;
-    ReturnValue_t result = ExtendedControllerBase::initialize();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-
-  return returnvalue::OK;
-}
-
-ReturnValue_t TemperatureSensorsDummy::handleCommandMessage(CommandMessage* message) {
-  return returnvalue::FAILED;
-}
-
-void TemperatureSensorsDummy::performControlOperation() {
-  iteration++;
-  value = sin(iteration / 80. * M_PI) * 10;
-
-  ReturnValue_t result = max31865Set.read();
-  if (result != returnvalue::OK) {
-    sif::warning << "Failed to read temperature from MAX31865 dataset" << std::endl;
-  }
-  max31865Set.rtdValue = value - 5;
-  max31865Set.temperatureCelcius = value;
-  if ((iteration % 100) < 20) {
-    max31865Set.setValidity(false, true);
-  } else {
-    max31865Set.setValidity(true, true);
-  }
-  max31865Set.commit();
-}
-
-ReturnValue_t TemperatureSensorsDummy::initializeLocalDataPool(
-    localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::RTD_VALUE),
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::TEMPERATURE_C),
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::LAST_FAULT_BYTE),
-                           new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(static_cast<lp_id_t>(MAX31865::PoolIds::FAULT_BYTE),
-                           new PoolEntry<uint8_t>({0}));
-
-  return returnvalue::OK;
-}
-
-LocalPoolDataSetBase* TemperatureSensorsDummy::getDataSetHandle(sid_t sid) {
-  sif::debug << "getHandle" << std::endl;
-  switch (sid.ownerSetId) {
-    case MAX31865::MAX31865_SET_ID:
-      return &max31865Set;
-    default:
-      return nullptr;
-  }
-}
-
-ReturnValue_t TemperatureSensorsDummy::checkModeCommand(Mode_t mode, Submode_t submode,
-                                                        uint32_t* msToReachTheMode) {
-  if (submode != SUBMODE_NONE) {
-    return INVALID_SUBMODE;
-  }
-  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
-    return INVALID_MODE;
-  }
-  return returnvalue::OK;
-}

dummies/TemperatureSensorsDummy.h

@@ -1,29 +0,0 @@
-#pragma once
-
-#include <fsfw/controller/ExtendedControllerBase.h>
-#include <mission/devices/devicedefinitions/Max31865Definitions.h>
-
-class TemperatureSensorsDummy : public ExtendedControllerBase {
- public:
-  TemperatureSensorsDummy();
-
-  ReturnValue_t initialize() override;
-
- protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-
-  // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
-
- private:
-  int iteration = 0;
-  float value = 0;
-  MAX31865::Max31865Set max31865Set;
-
-  void noise();
-};

dummies/Tmp1075Dummy.cpp

@@ -0,0 +1,34 @@
+#include "Tmp1075Dummy.h"
+
+#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
+
+using namespace returnvalue;
+
+Tmp1075Dummy::Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), set(this) {}
+void Tmp1075Dummy::doStartUp() { setMode(MODE_ON); }
+void Tmp1075Dummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
+ReturnValue_t Tmp1075Dummy::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+ReturnValue_t Tmp1075Dummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return OK; }
+ReturnValue_t Tmp1075Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                    const uint8_t *commandData,
+                                                    size_t commandDataLen) {
+  return 0;
+}
+ReturnValue_t Tmp1075Dummy::scanForReply(const uint8_t *start, size_t len,
+                                         DeviceCommandId_t *foundId, size_t *foundLen) {
+  return 0;
+}
+ReturnValue_t Tmp1075Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  return 0;
+}
+void Tmp1075Dummy::fillCommandAndReplyMap() {}
+uint32_t Tmp1075Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
+ReturnValue_t Tmp1075Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                    LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry<float>({0.0}));
+  return OK;
+}
+LocalPoolDataSetBase *Tmp1075Dummy::getDataSetHandle(sid_t sid) { return &set; }

dummies/Tmp1075Dummy.h

@@ -0,0 +1,32 @@
+#ifndef EIVE_OBSW_TMP1075DUMMY_H
+#define EIVE_OBSW_TMP1075DUMMY_H
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/Tmp1075Definitions.h"
+
+class Tmp1075Dummy : public DeviceHandlerBase {
+ public:
+  Tmp1075Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+
+ private:
+  TMP1075::Tmp1075Dataset set;
+
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+
+ protected:
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+};
+
+#endif  // EIVE_OBSW_TMP1075DUMMY_H

dummies/helpers.cpp

@@ -19,14 +19,17 @@
 #include <dummies/StarTrackerDummy.h>
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
-#include <dummies/TemperatureSensorsDummy.h>
 #include <mission/system/objects/CamSwitcher.h>
 
+#include "TemperatureSensorInserter.h"
+#include "dummies/Max31865Dummy.h"
+#include "dummies/Tmp1075Dummy.h"
+
 using namespace dummy;
 
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   new ComIFDummy(objects::DUMMY_COM_IF);
-  ComCookieDummy* comCookieDummy = new ComCookieDummy();
+  auto* comCookieDummy = new ComCookieDummy();
   new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addCoreCtrlCfg) {
     new CoreControllerDummy(objects::CORE_CONTROLLER);
@@ -43,7 +46,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   if (cfg.addSyrlinksDummies) {
     new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
-  new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  imtqDummy->enableThermalModule(ThermalStateCfg());
   if (cfg.addPowerDummies) {
     new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
@@ -79,7 +83,75 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   }
 
   if (cfg.addTempSensorDummies) {
-    new TemperatureSensorsDummy();
+    std::map<object_id_t, Max31865Dummy*> tempSensorDummies;
+    tempSensorDummies.emplace(objects::RTD_0_IC3_PLOC_HEATSPREADER,
+                              new Max31865Dummy(objects::RTD_0_IC3_PLOC_HEATSPREADER,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+                              new Max31865Dummy(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_2_IC5_4K_CAMERA,
+        new Max31865Dummy(objects::RTD_2_IC5_4K_CAMERA, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(objects::RTD_3_IC6_DAC_HEATSPREADER,
+                              new Max31865Dummy(objects::RTD_3_IC6_DAC_HEATSPREADER,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_4_IC7_STARTRACKER,
+        new Max31865Dummy(objects::RTD_4_IC7_STARTRACKER, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_5_IC8_RW1_MX_MY,
+        new Max31865Dummy(objects::RTD_5_IC8_RW1_MX_MY, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_6_IC9_DRO,
+        new Max31865Dummy(objects::RTD_6_IC9_DRO, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_7_IC10_SCEX,
+        new Max31865Dummy(objects::RTD_7_IC10_SCEX, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_8_IC11_X8,
+        new Max31865Dummy(objects::RTD_8_IC11_X8, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_9_IC12_HPA,
+        new Max31865Dummy(objects::RTD_9_IC12_HPA, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_10_IC13_PL_TX,
+        new Max31865Dummy(objects::RTD_10_IC13_PL_TX, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_11_IC14_MPA,
+        new Max31865Dummy(objects::RTD_11_IC14_MPA, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_12_IC15_ACU,
+        new Max31865Dummy(objects::RTD_12_IC15_ACU, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+                              new Max31865Dummy(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+                                                objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_14_IC17_TCS_BOARD,
+        new Max31865Dummy(objects::RTD_14_IC17_TCS_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+    tempSensorDummies.emplace(
+        objects::RTD_15_IC18_IMTQ,
+        new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));
+
+    std::map<object_id_t, Tmp1075Dummy*> tempTmpSensorDummies;
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_TCS_0,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_TCS_1,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_PLPCDU_0,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_PLPCDU_1,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, comCookieDummy));
+    tempTmpSensorDummies.emplace(
+        objects::TMP1075_HANDLER_IF_BOARD,
+        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
+
+    new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, tempSensorDummies,
+                                  tempTmpSensorDummies);
   }
   new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, power::NO_SWITCH);
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

generators/.run/all.run.xml

@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="all" type="PythonConfigurationType" factoryName="Python">
+    <module name="generators" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/gen.py" />
+    <option name="PARAMETERS" value="all" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>

generators/bsp_hosted_events.csv

@@ -0,0 +1,257 @@
+Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
+2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2203;0x089b;STORE_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2205;0x089d;STORING_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2211;0x08a3;INIT_DONE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2212;0x08a4;DUMP_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2213;0x08a5;DELETION_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2214;0x08a6;DELETION_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw/src/fsfw/power/Fuse.h
+4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw/src/fsfw/power/Fuse.h
+4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
+4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
+4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw/src/fsfw/power/PowerSwitchIF.h
+5000;0x1388;HEATER_ON;INFO;;fsfw/src/fsfw/thermal/Heater.h
+5001;0x1389;HEATER_OFF;INFO;;fsfw/src/fsfw/thermal/Heater.h
+5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7400;0x1ce8;CHANGING_MODE;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
+7401;0x1ce9;MODE_INFO;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
+7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
+7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
+7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw/src/fsfw/modes/HasModesIF.h
+7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7506;0x1d52;HEALTH_INFO;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
+7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
+7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
+7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
+7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7600;0x1db0;HANDLE_PACKET_FAILED;LOW;;fsfw/src/fsfw/tcdistribution/definitions.h
+7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
+10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
+11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
+11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
+11402;0x2c8a;HEATER_WENT_ON;INFO;;mission/devices/HeaterHandler.h
+11403;0x2c8b;HEATER_WENT_OFF;INFO;;mission/devices/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission/devices/HeaterHandler.h
+11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission/devices/HeaterHandler.h
+11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;BURN_PHASE_DONE;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;;mission/devices/SolarArrayDeploymentHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
+12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
+12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
+12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
+12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/devices/ploc/PlocSupervisorHandler.h
+12008;0x2ee8;SUPV_MPSOC_SHUTDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/fs/SdCardManager.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/fs/SdCardManager.h
+12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
+12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
+12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/ipcore/PdecHandler.h
+12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/ipcore/PdecHandler.h
+12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/ipcore/PdecHandler.h
+12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/ipcore/PdecHandler.h
+12405;0x3075;LOST_CARRIER_LOCK_PDEC;INFO;Lost carrier lock;linux/ipcore/PdecHandler.h
+12406;0x3076;LOST_BIT_LOCK_PDEC;INFO;Lost bit lock;linux/ipcore/PdecHandler.h
+12407;0x3077;POLL_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
+12408;0x3078;WRITE_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
+12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
+12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
+12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
+12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
+12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12706;0x31a2;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12707;0x31a3;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12708;0x31a4;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
+13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
+13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
+13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
+13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvUartMan.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvUartMan.h
+13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvUartMan.h
+13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvUartMan.h
+13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvUartMan.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvUartMan.h
+13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvUartMan.h
+13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvUartMan.h
+13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13617;0x3531;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13618;0x3532;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvUartMan.h
+13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvUartMan.h
+13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvUartMan.h
+13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvUartMan.h
+13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
+13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
+13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
+13901;0x364d;SET_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+13902;0x364e;GET_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;;mission/controller/ThermalController.h
+14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;;mission/controller/ThermalController.h
+14102;0x3716;SYRLINKS_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14103;0x3717;PLOC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14104;0x3718;OBC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14105;0x3719;HPA_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14106;0x371a;PLPCDU_OVERHEATING;HIGH;;mission/controller/ThermalController.h

generators/bsp_hosted_objects.csv

@@ -0,0 +1,147 @@
+0x42694269;TEST_TASK
+0x43000002;ACS_CONTROLLER
+0x43000003;CORE_CONTROLLER
+0x43000006;GLOBAL_JSON_CFG
+0x43400001;THERMAL_CONTROLLER
+0x44000001;DUMMY_HANDLER
+0x44120006;MGM_0_LIS3_HANDLER
+0x44120010;GYRO_0_ADIS_HANDLER
+0x44120032;SUS_0_N_LOC_XFYFZM_PT_XF
+0x44120033;SUS_1_N_LOC_XBYFZM_PT_XB
+0x44120034;SUS_2_N_LOC_XFYBZB_PT_YB
+0x44120035;SUS_3_N_LOC_XFYBZF_PT_YF
+0x44120036;SUS_4_N_LOC_XMYFZF_PT_ZF
+0x44120037;SUS_5_N_LOC_XFYMZB_PT_ZB
+0x44120038;SUS_6_R_LOC_XFYBZM_PT_XF
+0x44120039;SUS_7_R_LOC_XBYBZM_PT_XB
+0x44120040;SUS_8_R_LOC_XBYBZB_PT_YB
+0x44120041;SUS_9_R_LOC_XBYBZB_PT_YF
+0x44120042;SUS_10_N_LOC_XMYBZF_PT_ZF
+0x44120043;SUS_11_R_LOC_XBYMZB_PT_ZB
+0x44120047;RW1
+0x44120107;MGM_1_RM3100_HANDLER
+0x44120111;GYRO_1_L3G_HANDLER
+0x44120148;RW2
+0x44120208;MGM_2_LIS3_HANDLER
+0x44120212;GYRO_2_ADIS_HANDLER
+0x44120249;RW3
+0x44120309;MGM_3_RM3100_HANDLER
+0x44120313;GYRO_3_L3G_HANDLER
+0x44120350;RW4
+0x44130001;STAR_TRACKER
+0x44130045;GPS_CONTROLLER
+0x44140014;IMTQ_HANDLER
+0x442000A1;PCDU_HANDLER
+0x44250000;P60DOCK_HANDLER
+0x44250001;PDU1_HANDLER
+0x44250002;PDU2_HANDLER
+0x44250003;ACU_HANDLER
+0x44260000;BPX_BATT_HANDLER
+0x44300000;PLPCDU_HANDLER
+0x443200A5;RAD_SENSOR
+0x44330000;PLOC_UPDATER
+0x44330001;PLOC_MEMORY_DUMPER
+0x44330002;STR_HELPER
+0x44330003;PLOC_MPSOC_HELPER
+0x44330004;AXI_PTME_CONFIG
+0x44330005;PTME_CONFIG
+0x44330015;PLOC_MPSOC_HANDLER
+0x44330016;PLOC_SUPERVISOR_HANDLER
+0x44330017;PLOC_SUPERVISOR_HELPER
+0x44330032;SCEX
+0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
+0x444100A4;HEATER_HANDLER
+0x44420004;TMP1075_HANDLER_TCS_0
+0x44420005;TMP1075_HANDLER_TCS_1
+0x44420006;TMP1075_HANDLER_PLPCDU_0
+0x44420007;TMP1075_HANDLER_PLPCDU_1
+0x44420008;TMP1075_HANDLER_IF_BOARD
+0x44420016;RTD_0_IC3_PLOC_HEATSPREADER
+0x44420017;RTD_1_IC4_PLOC_MISSIONBOARD
+0x44420018;RTD_2_IC5_4K_CAMERA
+0x44420019;RTD_3_IC6_DAC_HEATSPREADER
+0x44420020;RTD_4_IC7_STARTRACKER
+0x44420021;RTD_5_IC8_RW1_MX_MY
+0x44420022;RTD_6_IC9_DRO
+0x44420023;RTD_7_IC10_SCEX
+0x44420024;RTD_8_IC11_X8
+0x44420025;RTD_9_IC12_HPA
+0x44420026;RTD_10_IC13_PL_TX
+0x44420027;RTD_11_IC14_MPA
+0x44420028;RTD_12_IC15_ACU
+0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
+0x44420030;RTD_14_IC17_TCS_BOARD
+0x44420031;RTD_15_IC18_IMTQ
+0x445300A3;SYRLINKS_HANDLER
+0x49000001;ARDUINO_COM_IF
+0x49000002;DUMMY_COM_IF
+0x49010006;SCEX_UART_READER
+0x49020006;SPI_RTD_COM_IF
+0x49030003;UART_COM_IF
+0x50000100;CCSDS_PACKET_DISTRIBUTOR
+0x50000200;PUS_PACKET_DISTRIBUTOR
+0x50000300;TCP_TMTC_SERVER
+0x50000301;UDP_TMTC_SERVER
+0x50000400;TCP_TMTC_POLLING_TASK
+0x50000401;UDP_TMTC_POLLING_TASK
+0x50000500;FILE_SYSTEM_HANDLER
+0x50000550;SDC_MANAGER
+0x50000600;PTME
+0x50000700;PDEC_HANDLER
+0x50000800;CCSDS_HANDLER
+0x51000300;PUS_SERVICE_3
+0x51000400;PUS_SERVICE_5
+0x51000500;PUS_SERVICE_6
+0x51000800;PUS_SERVICE_8
+0x51002300;PUS_SERVICE_23
+0x51020100;PUS_SERVICE_201
+0x53000000;FSFW_OBJECTS_START
+0x53000001;PUS_SERVICE_1_VERIFICATION
+0x53000002;PUS_SERVICE_2_DEVICE_ACCESS
+0x53000003;PUS_SERVICE_3_HOUSEKEEPING
+0x53000005;PUS_SERVICE_5_EVENT_REPORTING
+0x53000008;PUS_SERVICE_8_FUNCTION_MGMT
+0x53000009;PUS_SERVICE_9_TIME_MGMT
+0x53000011;PUS_SERVICE_11_TC_SCHEDULER
+0x53000017;PUS_SERVICE_17_TEST
+0x53000020;PUS_SERVICE_20_PARAMETERS
+0x53000200;PUS_SERVICE_200_MODE_MGMT
+0x53000201;PUS_SERVICE_201_HEALTH
+0x53001000;CFDP_PACKET_DISTRIBUTOR
+0x53010000;HEALTH_TABLE
+0x53010100;MODE_STORE
+0x53030000;EVENT_MANAGER
+0x53040000;INTERNAL_ERROR_REPORTER
+0x534f0100;TC_STORE
+0x534f0200;TM_STORE
+0x534f0300;IPC_STORE
+0x53500010;TIME_STAMPER
+0x53500020;VERIFICATION_REPORTER
+0x53ffffff;FSFW_OBJECTS_END
+0x60000000;HEATER_0_PLOC_PROC_BRD
+0x60000001;HEATER_1_PCDU_BRD
+0x60000002;HEATER_2_ACS_BRD
+0x60000003;HEATER_3_OBC_BRD
+0x60000004;HEATER_4_CAMERA
+0x60000005;HEATER_5_STR
+0x60000006;HEATER_6_DRO
+0x60000007;HEATER_7_HPA
+0x73000001;ACS_BOARD_ASS
+0x73000002;SUS_BOARD_ASS
+0x73000003;TCS_BOARD_ASS
+0x73000004;RW_ASS
+0x73000006;CAM_SWITCHER
+0x73000100;TM_FUNNEL
+0x73000101;PUS_TM_FUNNEL
+0x73000102;CFDP_TM_FUNNEL
+0x73000205;CFDP_HANDLER
+0x73000206;CFDP_DISTRIBUTOR
+0x73010000;EIVE_SYSTEM
+0x73010001;ACS_SUBSYSTEM
+0x73010002;PL_SUBSYSTEM
+0x73010003;TCS_SUBSYSTEM
+0x73010004;COM_SUBSYSTEM
+0x73500000;CCSDS_IP_CORE_BRIDGE
+0x90000003;THERMAL_TEMP_INSERTER
+0xCAFECAFE;DUMMY_INTERFACE
+0xFFFFFFFF;NO_OBJECT

generators/bsp_hosted_returnvalues.csv

@@ -0,0 +1,473 @@
+Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
+0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
+0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
+0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
+0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
+0x52b3;RWHA_InvalidSubstitute;Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination;179;RW_HANDLER;mission/devices/RwHandler.h
+0x52b4;RWHA_MissingEndSign;HDLC decoding mechanism never receives the end sign 0x7E;180;RW_HANDLER;mission/devices/RwHandler.h
+0x52b5;RWHA_NoReply;Reaction wheel only responds with empty frames.;181;RW_HANDLER;mission/devices/RwHandler.h
+0x52b6;RWHA_NoStartMarker;Expected a start marker as first byte;182;RW_HANDLER;mission/devices/RwHandler.h
+0x52a0;RWHA_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;RW_HANDLER;mission/devices/RwHandler.h
+0x52a1;RWHA_InvalidRampTime;Action Message with invalid ramp time was received.;161;RW_HANDLER;mission/devices/RwHandler.h
+0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
+0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
+0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
+0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
+0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
+0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x6600;SADPL_Busy;;0;SA_DEPL_HANDLER;mission/system/objects/Stack5VHandler.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
+0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e6;RMP_CommandChannelDeactivated;;230;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e7;RMP_CommandPortOutOfRange;;231;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e8;RMP_CommandPortInUse;;232;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04e9;RMP_CommandNoChannel;;233;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04ea;RMP_NoHwCrc;;234;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d0;RMP_ReplyNoReply;;208;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d1;RMP_ReplyNotSent;;209;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d2;RMP_ReplyNotYetSent;;210;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d3;RMP_ReplyMissmatch;;211;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04d4;RMP_ReplyTimeout;;212;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c0;RMP_ReplyInterfaceBusy;;192;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c1;RMP_ReplyTransmissionError;;193;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c2;RMP_ReplyInvalidData;;194;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04c3;RMP_ReplyNotSupported;;195;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f0;RMP_LinkDown;;240;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f1;RMP_SpwCredit;;241;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f2;RMP_SpwEscape;;242;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f3;RMP_SpwDisconnect;;243;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f4;RMP_SpwParity;;244;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f5;RMP_SpwWriteSync;;245;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f6;RMP_SpwInvalidAddress;;246;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f7;RMP_SpwEarlyEop;;247;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f8;RMP_SpwDma;;248;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x04f9;RMP_SpwLinkError;;249;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0400;RMP_ReplyOk;;0;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0401;RMP_ReplyGeneralErrorCode;;1;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0402;RMP_ReplyUnusedPacketTypeOrCommandCode;;2;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0403;RMP_ReplyInvalidKey;;3;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0404;RMP_ReplyInvalidDataCrc;;4;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0405;RMP_ReplyEarlyEop;;5;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0406;RMP_ReplyTooMuchData;;6;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0407;RMP_ReplyEep;;7;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0408;RMP_ReplyReserved;;8;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x0409;RMP_ReplyVerifyBufferOverrun;;9;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
+0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
+0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
+0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
+0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0802;DPS_SetWasAlreadyRead;;2;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0803;DPS_CommitingWithoutReading;;3;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
+0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
+0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
+0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
+0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0500;PS_SwitchOff;;0;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
+0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a04;TRC_BothValuesOol;;4;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x1a05;TRC_DuplexOol;;5;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
+0x3101;LIM_Unchecked;;1;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3102;LIM_Invalid;;2;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3103;LIM_Unselected;;3;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3104;LIM_BelowLowLimit;;4;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3105;LIM_AboveHighLimit;;5;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3106;LIM_UnexpectedValue;;6;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x3107;LIM_OutOfRange;;7;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31a0;LIM_FirstSample;;160;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e0;LIM_InvalidSize;;224;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e1;LIM_WrongType;;225;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
+0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
+0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03b2;DHB_IgnoreFullPacket;;178;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03c0;DHB_NothingToSend;;192;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03c2;DHB_CommandMapError;;194;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
+0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a3;DHI_CommandWasNotSent;;163;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a4;DHI_CantSwitchAddress;;164;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a5;DHI_WrongModeForCommand;;165;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a6;DHI_Timeout;;166;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a7;DHI_Busy;;167;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a8;DHI_NoReplyExpected;;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27a9;DHI_NonOpTemperature;;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27aa;DHI_CommandNotImplemented;;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b0;DHI_ChecksumError;;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b1;DHI_LengthMissmatch;;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b2;DHI_InvalidData;;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27b3;DHI_ProtocolError;;179;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c0;DHI_DeviceDidNotExecute;;192;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c1;DHI_DeviceReportedError;;193;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c2;DHI_UnknownDeviceReply;;194;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h

generators/bsp_q7s_events.csv

@@ -144,7 +144,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/ipcore/PdecHandler.h
 12405;0x3075;LOST_CARRIER_LOCK_PDEC;INFO;Lost carrier lock;linux/ipcore/PdecHandler.h
 12406;0x3076;LOST_BIT_LOCK_PDEC;INFO;Lost bit lock;linux/ipcore/PdecHandler.h
-12407;0x3077;POLL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
+12407;0x3077;POLL_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
+12408;0x3078;WRITE_SYSCALL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
@@ -198,6 +199,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
 13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13101;0x332d;CANT_GET_FIX;LOW;Could not get fix in maximum allowed time. P1: Maximum allowed time to get a fix after the GPS was switched on.;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
@@ -244,3 +246,12 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
 14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
+14005;0x36b5;VERSION_INFO;INFO;P1: Byte 0: Major, Byte 1: Minor, Byte 2: Patch, Byte 3: Has Git Hash P2: First four letters of Git SHA is the last byte of P1 is set.;bsp_q7s/core/CoreController.h
+14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;;mission/controller/ThermalController.h
+14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;;mission/controller/ThermalController.h
+14102;0x3716;SYRLINKS_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14103;0x3717;PLOC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14104;0x3718;OBC_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14105;0x3719;HPA_OVERHEATING;HIGH;;mission/controller/ThermalController.h
+14106;0x371a;PLPCDU_OVERHEATING;HIGH;;mission/controller/ThermalController.h

generators/bsp_q7s_objects.csv

@@ -55,7 +55,6 @@
 0x44420006;TMP1075_HANDLER_PLPCDU_0
 0x44420007;TMP1075_HANDLER_PLPCDU_1
 0x44420008;TMP1075_HANDLER_IF_BOARD
-0x44420009;TMP1075_HANDLER_OBC_IF_BOARD
 0x44420016;RTD_0_IC3_PLOC_HEATSPREADER
 0x44420017;RTD_1_IC4_PLOC_MISSIONBOARD
 0x44420018;RTD_2_IC5_4K_CAMERA
@@ -149,4 +148,5 @@
 0x73010003;TCS_SUBSYSTEM
 0x73010004;COM_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
+0x90000003;THERMAL_TEMP_INSERTER
 0xFFFFFFFF;NO_OBJECT

generators/bsp_q7s_returnvalues.csv

@@ -1,23 +1,13 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
-0x6300;NVMB_Busy;;0;NVM_PARAM_BASE;mission/system/objects/Stack5VHandler.h
-0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
-0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
-0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
-0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
+0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
+0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
 0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
 0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
@@ -30,6 +20,21 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x52a2;RWHA_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;RW_HANDLER;mission/devices/RwHandler.h
 0x52a3;RWHA_ExecutionFailed;Command execution failed;163;RW_HANDLER;mission/devices/RwHandler.h
 0x52a4;RWHA_CrcError;Reaction wheel reply has invalid crc;164;RW_HANDLER;mission/devices/RwHandler.h
+0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
+0x58a0;SUSS_ErrorUnlockMutex;;160;SUS_HANDLER;mission/devices/SusHandler.h
+0x58a1;SUSS_ErrorLockMutex;;161;SUS_HANDLER;mission/devices/SusHandler.h
+0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
@@ -39,120 +44,137 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
-0x5d00;GOMS_PacketTooLong;;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d01;GOMS_InvalidTableId;;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d02;GOMS_InvalidAddress;;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x4fa1;HEATER_CommandNotSupported;;161;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa2;HEATER_InitFailed;;162;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
-0x6001;CCSDS_KalmanNoGyrMeas;;1;CCSDS_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6002;CCSDS_KalmanNoModel;;2;CCSDS_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x6003;CCSDS_KalmanInversionFailed;;3;CCSDS_HANDLER;mission/controller/acs/MultiplicativeKalmanFilter.h
-0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
-0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
-0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
-0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
-0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
-0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
-0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
-0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
-0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
+0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x6600;SADPL_Busy;;0;SA_DEPL_HANDLER;mission/system/objects/Stack5VHandler.h
+0x6b01;ACSPTG_PtgctrlMekfInputInvalid;;1;ACS_PTG;mission/controller/acs/control/PtgCtrl.h
+0x6a01;ACSSAF_SafectrlMekfInputInvalid;;1;ACS_SAFE;mission/controller/acs/control/SafeCtrl.h
+0x6c01;ACSDTB_DetumbleNoSensordata;;1;ACS_DETUMBLE;mission/controller/acs/control/Detumble.h
+0x6901;ACSKAL_KalmanNoGyrMeas;;1;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6902;ACSKAL_KalmanNoModel;;2;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x6903;ACSKAL_KalmanInversionFailed;;3;ACS_KALMAN;mission/controller/acs/MultiplicativeKalmanFilter.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
+0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
+0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
+0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
 0x0e01;HM_InvalidMode;;1;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e02;HM_TransNotAllowed;;2;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e03;HM_InTransition;;3;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
 0x0e04;HM_InvalidSubmode;;4;HAS_MODES_IF;fsfw/src/fsfw/modes/HasModesIF.h
-0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
-0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
-0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
-0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
+0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
+0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
+0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
+0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
+0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
+0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
+0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
+0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
+0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
 0x04e1;RMP_CommandNoDescriptorsAvailable;;225;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e2;RMP_CommandBufferFull;;226;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x04e3;RMP_CommandChannelOutOfRange;;227;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
@@ -193,9 +215,95 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x040a;RMP_ReplyCommandNotImplementedOrNotAuthorised;;10;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040b;RMP_ReplyRmwDataLengthError;;11;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
 0x040c;RMP_ReplyInvalidTargetLogicalAddress;;12;RMAP_CHANNEL;fsfw/src/fsfw/rmap/RMAP.h
-0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
-0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x2801;SM_DataTooLarge;;1;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2802;SM_DataStorageFull;;2;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2803;SM_IllegalStorageId;;3;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2804;SM_DataDoesNotExist;;4;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2805;SM_IllegalAddress;;5;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x2806;SM_PoolTooLarge;;6;STORAGE_MANAGER_IF;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+0x38a1;SGP4_InvalidEccentricity;;161;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a2;SGP4_InvalidMeanMotion;;162;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a3;SGP4_InvalidPerturbationElements;;163;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a4;SGP4_InvalidSemiLatusRectum;;164;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a5;SGP4_InvalidEpochElements;;165;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
+0x2401;MT_NoPacketFound;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2402;MT_PossiblePacketLoss;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h
+0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
+0x3f01;DLEE_StreamTooShort;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x3f02;DLEE_DecodingError;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
+0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
+0x0f01;CM_UnknownCommand;;1;COMMAND_MESSAGE;fsfw/src/fsfw/ipc/CommandMessageIF.h
+0x3a01;MQI_Empty;;1;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3901;MUX_NotEnoughResources;;1;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3902;MUX_InsufficientMemory;;2;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3903;MUX_NoPrivilege;;3;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3904;MUX_WrongAttributeSetting;;4;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3905;MUX_MutexAlreadyLocked;;5;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3906;MUX_MutexNotFound;;6;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3907;MUX_MutexMaxLocks;;7;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3908;MUX_CurrThreadAlreadyOwnsMutex;;8;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3909;MUX_CurrThreadDoesNotOwnMutex;;9;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390a;MUX_MutexTimeout;;10;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390b;MUX_MutexInvalidId;;11;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x390c;MUX_MutexDestroyedWhileWaiting;;12;MUTEX_IF;fsfw/src/fsfw/ipc/MutexIF.h
+0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
+0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
+0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+0x0c02;MS_InvalidEntry;;2;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c03;MS_TooManyElements;;3;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0c04;MS_CantStoreEmpty;;4;MODE_STORE_IF;fsfw/src/fsfw/subsystem/modes/ModeStoreIF.h
+0x0d01;SS_SequenceAlreadyExists;;1;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d02;SS_TableAlreadyExists;;2;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d03;SS_TableDoesNotExist;;3;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d04;SS_TableOrSequenceLengthInvalid;;4;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d05;SS_SequenceDoesNotExist;;5;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d06;SS_TableContainsInvalidObjectId;;6;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d07;SS_FallbackSequenceDoesNotExist;;7;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d08;SS_NoTargetTable;;8;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d09;SS_SequenceOrTableTooLong;;9;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0b;SS_IsFallbackSequence;;11;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0c;SS_AccessDenied;;12;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0d0e;SS_TableInUse;;14;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da1;SS_TargetTableNotReached;;161;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0da2;SS_TableCheckFailed;;162;SUBSYSTEM;fsfw/src/fsfw/subsystem/Subsystem.h
+0x0b01;SB_ChildNotFound;;1;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b02;SB_ChildInfoUpdated;;2;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b03;SB_ChildDoesntHaveModes;;3;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b04;SB_CouldNotInsertChild;;4;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x0b05;SB_TableContainsInvalidObjectId;;5;SUBSYSTEM_BASE;fsfw/src/fsfw/subsystem/SubsystemBase.h
+0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
+0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
+0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
 0x3da0;PVA_InvalidReadWriteMode;;160;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x3da1;PVA_InvalidPoolEntry;;161;POOL_VARIABLE_IF;fsfw/src/fsfw/datapool/PoolVariableIF.h
 0x0801;DPS_InvalidParameterDefinition;;1;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
@@ -204,20 +312,35 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0804;DPS_DataSetUninitialised;;4;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0805;DPS_DataSetFull;;5;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
 0x0806;DPS_PoolVarNull;;6;DATA_SET_CLASS;fsfw/src/fsfw/datapool/DataSetIF.h
-0x1c01;TCD_PacketLost;;1;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c02;TCD_DestinationNotFound;;2;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1c03;TCD_ServiceIdAlreadyExists;;3;PACKET_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/TcDistributorBase.h
-0x1b00;TCC_NoDestinationFound;;0;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b01;TCC_InvalidCcsdsVersion;;1;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b02;TCC_InvalidApid;;2;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b03;TCC_InvalidPacketType;;3;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b04;TCC_InvalidSecHeaderField;;4;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b05;TCC_IncorrectPrimaryHeader;;5;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b07;TCC_IncompletePacket;;7;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b08;TCC_InvalidPusVersion;;8;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b09;TCC_IncorrectChecksum;;9;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0a;TCC_IllegalPacketSubtype;;10;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
-0x1b0b;TCC_IncorrectSecondaryHeader;;11;TMTC_DISTRIBUTION;fsfw/src/fsfw/tcdistribution/definitions.h
+0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
+0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
+0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
+0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
+0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
+0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
+0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x1602;FMM_KeyDoesNotExist;;2;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
+0x2501;EV_ListenerNotFound;;1;EVENT_MANAGER_IF;fsfw/src/fsfw/events/EventManagerIF.h
+0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
+0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
 0x3001;POS_InPowerTransition;;1;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x3002;POS_SwitchStateMismatch;;2;POWER_SWITCHER;fsfw/src/fsfw/power/PowerSwitcher.h
 0x0501;PS_SwitchOn;;1;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
@@ -225,76 +348,23 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0502;PS_SwitchTimeout;;2;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0503;PS_FuseOn;;3;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
 0x0504;PS_FuseOff;;4;POWER_SWITCH_IF;fsfw/src/fsfw/power/PowerSwitchIF.h
-0x3b00;SPH_ConnBroken;;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
-0x2a01;IEC_NoConfigurationTable;;1;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a02;IEC_NoCpuTable;;2;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a03;IEC_InvalidWorkspaceAddress;;3;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a04;IEC_TooLittleWorkspace;;4;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a05;IEC_WorkspaceAllocation;;5;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a06;IEC_InterruptStackTooSmall;;6;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a07;IEC_ThreadExitted;;7;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a08;IEC_InconsistentMpInformation;;8;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a09;IEC_InvalidNode;;9;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0a;IEC_NoMpci;;10;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0b;IEC_BadPacket;;11;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0c;IEC_OutOfPackets;;12;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0d;IEC_OutOfGlobalObjects;;13;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0e;IEC_OutOfProxies;;14;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a0f;IEC_InvalidGlobalId;;15;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a10;IEC_BadStackHook;;16;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a11;IEC_BadAttributes;;17;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a12;IEC_ImplementationKeyCreateInconsistency;;18;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a13;IEC_ImplementationBlockingOperationCancel;;19;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a14;IEC_MutexObtainFromBadState;;20;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2a15;IEC_UnlimitedAndMaximumIs0;;21;INTERNAL_ERROR_CODES;fsfw/src/fsfw/osal/InternalErrorCodes.h
-0x2600;FDI_YourFault;;0;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2601;FDI_MyFault;;1;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x2602;FDI_ConfirmLater;;2;HANDLES_FAILURES_IF;fsfw/src/fsfw/fdir/ConfirmsFailuresIF.h
-0x1e00;PUS_InvalidPusVersion;;0;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x1e01;PUS_InvalidCrc16;;1;PUS_IF;fsfw/src/fsfw/tmtcpacket/pus/PusIF.h
-0x0201;OM_InsertionFailed;;1;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0202;OM_NotFound;;2;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0203;OM_ChildInitFailed;;3;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x0204;OM_InternalErrReporterUninit;;4;OBJECT_MANAGER_IF;fsfw/src/fsfw/objectmanager/ObjectManagerIF.h
-0x2201;TMF_Busy;;1;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2202;TMF_LastPacketFound;;2;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2203;TMF_StopFetch;;3;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2204;TMF_Timeout;;4;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2205;TMF_TmChannelFull;;5;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2206;TMF_NotStored;;6;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2207;TMF_AllDeleted;;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2208;TMF_InvalidData;;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2209;TMF_NotReady;;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h
-0x2101;TMB_Busy;;1;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2102;TMB_Full;;2;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2103;TMB_Empty;;3;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2104;TMB_NullRequested;;4;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2105;TMB_TooLarge;;5;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2106;TMB_NotReady;;6;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2107;TMB_DumpError;;7;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2108;TMB_CrcError;;8;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2109;TMB_Timeout;;9;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210a;TMB_IdlePacketFound;;10;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210b;TMB_TelecommandFound;;11;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210c;TMB_NoPusATm;;12;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210d;TMB_TooSmall;;13;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210e;TMB_BlockNotFound;;14;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x210f;TMB_InvalidRequest;;15;TM_STORE_BACKEND_IF;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-0x2d01;PAW_UnknownDatatype;;1;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d02;PAW_DatatypeMissmatch;;2;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d03;PAW_Readonly;;3;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d04;PAW_TooBig;;4;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d05;PAW_SourceNotSet;;5;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d06;PAW_OutOfBounds;;6;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d07;PAW_NotSet;;7;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2d08;PAW_ColumnOrRowsZero;;8;PARAMETER_WRAPPER;fsfw/src/fsfw/parameters/ParameterWrapper.h
-0x2e01;HPA_InvalidIdentifierId;;1;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e02;HPA_InvalidDomainId;;2;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e03;HPA_InvalidValue;;3;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x2e05;HPA_ReadOnly;;5;HAS_PARAMETERS_IF;fsfw/src/fsfw/parameters/HasParametersIF.h
-0x3b01;SPH_SemaphoreTimeout;;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b02;SPH_SemaphoreNotOwned;;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
-0x3b03;SPH_SemaphoreInvalid;;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
+0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x1a01;TRC_NotEnoughSensors;;1;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a02;TRC_LowestValueOol;;2;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
 0x1a03;TRC_HighestValueOol;;3;TRIPLE_REDUNDACY_CHECK;fsfw/src/fsfw/monitoring/TriplexMonitor.h
@@ -313,74 +383,36 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x31e2;LIM_WrongPid;;226;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31e3;LIM_WrongLimitId;;227;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
 0x31ee;LIM_MonitorNotFound;;238;LIMITS_IF;fsfw/src/fsfw/monitoring/MonitoringIF.h
-0x3601;CFDP_InvalidTlvType;;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3602;CFDP_InvalidDirectiveField;;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3603;CFDP_InvalidPduDatafieldLen;;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3604;CFDP_InvalidAckDirectiveFields;;4;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3605;CFDP_MetadataCantParseOptions;;5;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3606;CFDP_NakCantParseOptions;;6;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3607;CFDP_FinishedCantParseFsResponses;;7;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3608;CFDP_FilestoreRequiresSecondFile;;8;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x3609;CFDP_FilestoreResponseCantParseFsMessage;;9;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
-0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430a;FILS_FileDoesNotExist;;10;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430b;FILS_FileAlreadyExists;;11;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430c;FILS_NotAFile;;12;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430d;FILS_FileLocked;;13;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x430e;FILS_PermissionDenied;;14;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4315;FILS_DirectoryDoesNotExist;;21;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4316;FILS_DirectoryAlreadyExists;;22;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4317;FILS_NotADirectory;;23;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x4318;FILS_DirectoryNotEmpty;;24;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431e;FILS_SequencePacketMissingWrite;;30;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x431f;FILS_SequencePacketMissingRead;;31;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
-0x2c01;CCS_BcIsSetVrCommand;;1;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2c02;CCS_BcIsUnlockCommand;;2;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb0;CCS_BcIllegalCommand;;176;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cb1;CCS_BoardReadingNotFinished;;177;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf0;CCS_NsPositiveW;;240;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf1;CCS_NsNegativeW;;241;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf2;CCS_NsLockout;;242;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf3;CCS_FarmInLockout;;243;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cf4;CCS_FarmInWait;;244;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce0;CCS_WrongSymbol;;224;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce1;CCS_DoubleStart;;225;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce2;CCS_StartSymbolMissed;;226;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce3;CCS_EndWithoutStart;;227;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce4;CCS_TooLarge;;228;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce5;CCS_TooShort;;229;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce6;CCS_WrongTfVersion;;230;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce7;CCS_WrongSpacecraftId;;231;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce8;CCS_NoValidFrameType;;232;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ce9;CCS_CrcFailed;;233;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cea;CCS_VcNotFound;;234;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ceb;CCS_ForwardingFailed;;235;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cec;CCS_ContentTooLarge;;236;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2ced;CCS_ResidualData;;237;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cee;CCS_DataCorrupted;;238;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cef;CCS_IllegalSegmentationFlag;;239;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd0;CCS_IllegalFlagCombination;;208;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd1;CCS_ShorterThanHeader;;209;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd2;CCS_TooShortBlockedPacket;;210;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
-0x2cd3;CCS_TooShortMapExtraction;;211;CCSDS_HANDLER_IF;fsfw/src/fsfw/datalinklayer/CCSDSReturnValuesIF.h
 0x4201;PUS11_InvalidTypeTimeWindow;;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4204;PUS11_InvalidRelativeTime;;4;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4205;PUS11_ContainedTcTooSmall;;5;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4206;PUS11_ContainedTcCrcMissmatch;;6;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
-0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
-0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x0601;PP_DoItMyself;;1;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0602;PP_PointsToVariable;;2;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0603;PP_PointsToMemory;;3;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0604;PP_ActivityCompleted;;4;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0605;PP_PointsToVectorUint8;;5;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0606;PP_PointsToVectorUint16;;6;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0607;PP_PointsToVectorUint32;;7;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x0608;PP_PointsToVectorFloat;;8;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06a0;PP_DumpNotSupported;;160;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e0;PP_InvalidSize;;224;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e1;PP_InvalidAddress;;225;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e2;PP_InvalidContent;;226;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e3;PP_UnalignedAccess;;227;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x06e4;PP_WriteProtected;;228;HAS_MEMORY_IF;fsfw/src/fsfw/memory/HasMemoryIF.h
+0x13e0;MH_UnknownCmd;;224;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e1;MH_InvalidAddress;;225;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e2;MH_InvalidSize;;226;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x13e3;MH_StateMismatch;;227;MEMORY_HELPER;fsfw/src/fsfw/memory/MemoryHelper.h
+0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
 0x03a0;DHB_InvalidChannel;;160;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b0;DHB_AperiodicReply;;176;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03b1;DHB_IgnoreReplyData;;177;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -390,12 +422,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x03d0;DHB_NoSwitch;;208;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e0;DHB_ChildTimeout;;224;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
 0x03e1;DHB_SwitchFailed;;225;DEVICE_HANDLER_BASE;fsfw/src/fsfw/devicehandlers/DeviceHandlerBase.h
-0x1201;AB_NeedSecondStep;;1;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1202;AB_NeedToReconfigure;;2;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1203;AB_ModeFallback;;3;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1204;AB_ChildNotCommandable;;4;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x1205;AB_NeedToChangeHealth;;5;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
-0x12a1;AB_NotEnoughChildrenInCorrectState;;161;ASSEMBLY_BASE;fsfw/src/fsfw/devicehandlers/AssemblyBase.h
+0x3401;DC_NoReplyReceived;;1;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3402;DC_ProtocolError;;2;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3403;DC_Nullpointer;;3;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3404;DC_InvalidCookieType;;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3405;DC_NotActive;;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
+0x3406;DC_TooMuchData;;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h
 0x27a0;DHI_NoCommandData;;160;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a1;DHI_CommandNotSupported;;161;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a2;DHI_CommandAlreadySent;;162;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -417,67 +449,146 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27c3;DHI_DeviceReplyInvalid;;195;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d0;DHI_InvalidCommandParameter;;208;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27d1;DHI_InvalidNumberOrLengthOfParameters;;209;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-0x2401;MT_TooDetailedRequest;;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2402;MT_TooGeneralRequest;;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2403;MT_NoMatch;;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2404;MT_Full;;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x2405;MT_NewNodeCreated;;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h
-0x3f01;DLEE_NoPacketFound;;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x3f02;DLEE_PossiblePacketLoss;;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h
-0x2f01;ASC_TooLongForTargetType;;1;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f02;ASC_InvalidCharacters;;2;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x2f03;ASC_BufferTooSmall;;3;ASCII_CONVERTER;fsfw/src/fsfw/globalfunctions/AsciiConverter.h
-0x1701;HHI_ObjectNotHealthy;;1;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1702;HHI_InvalidHealthState;;2;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x1703;HHI_IsExternallyControlled;;3;HAS_HEALTH_IF;fsfw/src/fsfw/health/HasHealthIF.h
-0x3201;CF_ObjectHasNoFunctions;;1;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3202;CF_AlreadyCommanding;;2;COMMANDS_ACTIONS_IF;fsfw/src/fsfw/action/CommandsActionsIF.h
-0x3301;HF_IsBusy;;1;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3302;HF_InvalidParameters;;2;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3303;HF_ExecutionFinished;;3;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x3304;HF_InvalidActionId;;4;HAS_ACTIONS_IF;fsfw/src/fsfw/action/HasActionsIF.h
-0x1000;TIM_UnsupportedTimeFormat;;0;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1001;TIM_NotEnoughInformationForTargetFormat;;1;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1002;TIM_LengthMismatch;;2;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1003;TIM_InvalidTimeFormat;;3;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1004;TIM_InvalidDayOfYear;;4;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x1005;TIM_TimeDoesNotFitFormat;;5;CCSDS_TIME_HELPER_CLASS;fsfw/src/fsfw/timemanager/CCSDSTime.h
-0x3701;TSI_BadTimestamp;;1;TIME_STAMPER_IF;fsfw/src/fsfw/timemanager/TimeStampIF.h
-0x3c00;LPIF_PoolEntryNotFound;;0;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3c01;LPIF_PoolEntryTypeConflict;;1;LOCAL_POOL_OWNER_IF;fsfw/src/fsfw/datapoollocal/localPoolDefinitions.h
-0x3e00;HKM_QueueOrDestinationInvalid;;0;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e01;HKM_WrongHkPacketType;;1;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e02;HKM_ReportingStatusUnchanged;;2;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e03;HKM_PeriodicHelperInvalid;;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e04;HKM_PoolobjectNotFound;;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x3e05;HKM_DatasetNotFound;;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
-0x2901;TC_InvalidTargetState;;1;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f1;TC_AboveOperationalLimit;;241;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x29f2;TC_BelowOperationalLimit;;242;THERMAL_COMPONENT_IF;fsfw/src/fsfw/thermal/ThermalComponentIF.h
-0x2001;CSB_ExecutionComplete;;1;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2002;CSB_NoStepMessage;;2;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2003;CSB_ObjectBusy;;3;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2004;CSB_Busy;;4;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2005;CSB_InvalidTc;;5;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2006;CSB_InvalidObject;;6;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x2007;CSB_InvalidReply;;7;COMMAND_SERVICE_BASE;fsfw/src/fsfw/tmtcservices/CommandingServiceBase.h
-0x4c00;SPPA_NoPacketFound;;0;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x4c01;SPPA_SplitPacket;;1;SPACE_PACKET_PARSER;fsfw/src/fsfw/tmtcservices/SpacePacketParser.h
-0x1d01;ATC_ActivityStarted;;1;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d02;ATC_InvalidSubservice;;2;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d03;ATC_IllegalApplicationData;;3;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d04;ATC_SendTmFailed;;4;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x1d05;ATC_Timeout;;5;ACCEPTS_TELECOMMANDS_IF;fsfw/src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
-0x6b00;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x1401;SE_BufferTooShort;;1;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1402;SE_StreamTooShort;;2;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x1403;SE_TooManyElements;;3;SERIALIZE_IF;fsfw/src/fsfw/serialize/SerializeIF.h
+0x4500;HSPI_HalTimeoutRetval;;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_HalBusyRetval;;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalErrorRetval;;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4801;HGIO_UnknownGpioId;;1;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4802;HGIO_DriveGpioFailure;;2;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4803;HGIO_GpioTypeFailure;;3;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4804;HGIO_GpioInvalidInstance;;4;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
+0x4406;UXOS_PcloseCallError;;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
-0x6a00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
-0x6a0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f00;SDMA_OpOngoing;;0;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f01;SDMA_AlreadyOn;;1;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f02;SDMA_AlreadyMounted;;2;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f03;SDMA_AlreadyOff;;3;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0a;SDMA_StatusFileNexists;;10;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0b;SDMA_StatusFileFormatInvalid;;11;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0c;SDMA_MountError;;12;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0d;SDMA_UnmountError;;13;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0e;SDMA_SystemCallError;;14;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x6f0f;SDMA_PopenCallError;;15;SD_CARD_MANAGER;bsp_q7s/fs/SdCardManager.h
+0x7000;SCBU_KeyNotFound;;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x57a0;PLSPVhLP_FileClosedAccidentally;File accidentally close;160;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x57a1;PLSPVhLP_ProcessTerminated;Process has been terminated by command;161;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x57a2;PLSPVhLP_PathNotExists;Received command with invalid pathname;162;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x57a3;PLSPVhLP_EventBufferReplyInvalidApid;Expected event buffer TM but received space packet with other APID;163;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x5700;PLSPVhLP_RequestDone;;0;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x5701;PLSPVhLP_NoPacketFound;;1;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x5702;PLSPVhLP_DecodeBufTooSmall;;2;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x5703;PLSPVhLP_PossiblePacketLossConsecutiveStart;;3;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x5704;PLSPVhLP_PossiblePacketLossConsecutiveEnd;;4;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x5705;PLSPVhLP_HdlcError;;5;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h
+0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/devices/ploc/PlocMPSoCHelper.h
+0x5ea0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;160;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
+0x5ea1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;161;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h
+0x53a0;STRH_TemperatureReqFailed;Status in temperature reply signals error;160;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a1;STRH_PingFailed;Ping command failed;161;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a2;STRH_VersionReqFailed;Status in version reply signals error;162;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x6201;JSONBASE_JsonFileNotExists;Specified json file does not exist;1;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x6202;JSONBASE_SetNotExists;Requested set does not exist in json file;2;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x6203;JSONBASE_ParamNotExists;Requested parameter does not exist in json file;3;ARCSEC_JSON_BASE;linux/devices/startracker/ArcsecJsonParamBase.h
+0x53a3;STRH_InterfaceReqFailed;Status in interface reply signals error;163;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a4;STRH_PowerReqFailed;Status in power reply signals error;164;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a5;STRH_SetParamFailed;Status of reply to parameter set command signals error;165;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a6;STRH_ActionFailed;Status of reply to action command signals error;166;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a7;STRH_FilePathTooLong;Received invalid path string. Exceeds allowed length;167;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a8;STRH_FilenameTooLong;Name of file received with command is too long;168;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53a9;STRH_InvalidProgram;Received version reply with invalid program ID;169;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53aa;STRH_ReplyError;Status field reply signals error;170;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ab;STRH_CommandTooShort;Received command which is too short (some data is missing for proper execution);171;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ac;STRH_InvalidLength;Received command with invalid length (too few or too many parameters);172;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ad;STRH_RegionMismatch;Region mismatch between send and received data;173;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53ae;STRH_AddressMismatch;Address mismatch between send and received data;174;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53af;STRH_LengthMismatch;Length field mismatch between send and received data;175;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b0;STRH_FileNotExists;Specified file does not exist;176;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b1;STRH_InvalidType;Download blob pixel command has invalid type field;177;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b2;STRH_InvalidId;Received FPGA action command with invalid ID;178;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b3;STRH_ReplyTooShort;Received reply is too short;179;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b4;STRH_CrcFailure;Received reply with invalid CRC;180;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b5;STRH_StrHelperExecuting;Star tracker handler currently executing a command and using the communication interface;181;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b7;STRH_StartrackerRunningFirmware;Star tracker is in firmware mode but must be in bootloader mode to execute this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x53b8;STRH_StartrackerRunningBootloader;Star tracker is in bootloader mode but must be in firmware mode to execute this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h
+0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h
+0x68a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a1;SPVRTVIF_InvalidServiceId;;161;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a3;SPVRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC supervisor;163;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a4;SPVRTVIF_InvalidApid;Received space packet with invalid APID from PLOC supervisor;164;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a5;SPVRTVIF_GetTimeFailure;Failed to read current system time;165;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a6;SPVRTVIF_InvalidWatchdog;Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT;166;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a7;SPVRTVIF_InvalidWatchdogTimeout;Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.;167;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a8;SPVRTVIF_InvalidLatchupId;Received latchup config command with invalid latchup ID;168;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68a9;SPVRTVIF_SweepPeriodTooSmall;Received set adc sweep period command with invalid sweep period. Must be larger than 21.;169;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68aa;SPVRTVIF_InvalidTestParam;Receive auto EM test command with invalid test param. Valid params are 1 and 2.;170;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68ab;SPVRTVIF_MramPacketParsingFailure;Returned when scanning for MRAM dump packets failed.;171;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68ac;SPVRTVIF_InvalidMramAddresses;Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address);172;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68ad;SPVRTVIF_NoMramPacket;Expect reception of an MRAM dump packet but received space packet with other apid.;173;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68ae;SPVRTVIF_PathDoesNotExist;Path to PLOC directory on SD card does not exist;174;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68af;SPVRTVIF_MramFileNotExists;MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.;175;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68b0;SPVRTVIF_InvalidReplyLength;;176;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68b1;SPVRTVIF_InvalidLength;Received action command has invalid length;177;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68b2;SPVRTVIF_FilenameTooLong;Filename too long;178;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68b3;SPVRTVIF_UpdateStatusReportInvalidLength;Received update status report with invalid packet length field;179;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68b4;SPVRTVIF_UpdateCrcFailure;Update status report does not contain expected CRC. There might be a bit flip in the update memory region.;180;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68b5;SPVRTVIF_SupvHelperExecuting;Supervisor helper task ist currently executing a command (wait until helper tas has finished or interrupt by sending the terminate command);181;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68c0;SPVRTVIF_BufTooSmall;;192;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x68c1;SPVRTVIF_NoReplyTimeout;;193;SUPV_RETURN_VALUES_IF;linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
+0x67a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x67a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h
+0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
+0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
+0x5402;DWLPWRON_InvalidCrc;;2;DWLPWRON_CMD;linux/devices/ScexHelper.h
+0x59a0;IPCI_PapbBusy;;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h
+0x5aa0;PTME_UnknownVcId;;160;PTME;linux/ipcore/Ptme.h
+0x5fa0;PDEC_AbandonedCltu;;160;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa1;PDEC_FrameDirty;;161;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa2;PDEC_FrameIllegalMultipleReasons;;162;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa3;PDEC_AdDiscardedLockout;;163;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa4;PDEC_AdDiscardedWait;;164;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa5;PDEC_AdDiscardedNsVs;;165;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fb0;PDEC_CommandNotImplemented;Received action message with unknown action id;176;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa6;PDEC_NoReport;;166;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa7;PDEC_ErrorVersionNumber;;167;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa8;PDEC_IllegalCombination;;168;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fa9;PDEC_InvalidScId;;169;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5faa;PDEC_InvalidVcIdMsb;;170;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fab;PDEC_InvalidVcIdLsb;;171;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fac;PDEC_NsNotZero;;172;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x5fae;PDEC_InvalidBcCc;;174;PDEC_HANDLER;linux/ipcore/PdecHandler.h
+0x61a0;RS_RateNotSupported;The commanded rate is not supported by the current FPGA design;160;RATE_SETTER;linux/ipcore/PtmeConfig.h
+0x61a1;RS_BadBitRate;Bad bitrate has been commanded (e.g. 0);161;RATE_SETTER;linux/ipcore/PtmeConfig.h
+0x61a2;RS_ClkInversionFailed;Failed to invert clock and thus change the time the data is updated with respect to the tx clock;162;RATE_SETTER;linux/ipcore/PtmeConfig.h
+0x61a3;RS_TxManipulatorConfigFailed;Failed to change configuration bit of tx clock manipulator;163;RATE_SETTER;linux/ipcore/PtmeConfig.h

generators/deps/.gitignore

@@ -0,0 +1,3 @@
+/*
+!/*.sh
+!/.gitignore

generators/deps/install_fsfwgen.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfwgen.git

generators/events/event_parser.py

@@ -2,6 +2,7 @@
 Event exporter.
 """
 import datetime
+import logging
 import time
 import os
 from pathlib import Path
@@ -16,13 +17,15 @@ from fsfwgen.events.event_parser import (
 from fsfwgen.parserbase.file_list_parser import FileListParser
 from fsfwgen.utility.printer import PrettyPrinter
 from fsfwgen.utility.file_management import copy_file
-from fsfwgen.logging import get_console_logger
 from definitions import BspType, ROOT_DIR, OBSW_ROOT_DIR
 
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger(__name__)
 DATE_TODAY = datetime.datetime.now()
 DATE_STRING_FULL = DATE_TODAY.strftime("%Y-%m-%d %H:%M:%S")
 
+PRINT_EVENTS = False
+PRINT_SUBSYSTEM_TABLE = False
+
 GENERATE_CPP = True
 GENERATE_CPP_H = True
 GENERATE_CSV = True
@@ -40,64 +43,81 @@ CPP_H_FILENAME = Path(
     f"{os.path.dirname(os.path.realpath(__file__))}/translateEvents.h"
 )
 
-BSP_SELECT = BspType.BSP_Q7S
-
-BSP_DIR_NAME = BSP_SELECT.value
-
-# Store this file in the root of the generators folder
-CSV_FILENAME = Path(f"{ROOT_DIR}/{BSP_SELECT.value}_events.csv")
-CSV_COPY_DEST = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/events.csv")
-
-if BSP_SELECT == BspType.BSP_Q7S or BSP_SELECT == BspType.BSP_LINUX_BOARD:
-    FSFW_CONFIG_ROOT = Path(f"{OBSW_ROOT_DIR}/linux/fsfwconfig")
-
-else:
-    FSFW_CONFIG_ROOT = Path(f"{OBSW_ROOT_DIR}/{BSP_DIR_NAME}/fsfwconfig")
-
-CPP_COPY_DESTINATION = Path(f"{FSFW_CONFIG_ROOT}/events/")
-
 FILE_SEPARATOR = ";"
-SUBSYSTEM_DEFINITION_DESTINATIONS = [
-    f"{FSFW_CONFIG_ROOT}/events/subsystemIdRanges.h",
-    f"{OBSW_ROOT_DIR}/fsfw/src/fsfw/events/fwSubsystemIdRanges.h",
-    f"{OBSW_ROOT_DIR}/common/config/eive/eventSubsystemIds.h",
-]
-SUBSYSTEM_DEFS_DEST_AS_PATH = [Path(x) for x in SUBSYSTEM_DEFINITION_DESTINATIONS]
 
-HEADER_DEFINITION_DESTINATIONS = [
-    f"{OBSW_ROOT_DIR}/mission/",
-    f"{OBSW_ROOT_DIR}/fsfw/",
-    f"{FSFW_CONFIG_ROOT}",
-    f"{OBSW_ROOT_DIR}/test/",
-    f"{OBSW_ROOT_DIR}/bsp_q7s/",
-    f"{OBSW_ROOT_DIR}/linux/",
-]
-HEADER_DEFINITION_DESTINATIONS_AS_PATH = [
-    Path(x) for x in HEADER_DEFINITION_DESTINATIONS
-]
 
-LOGGER = get_console_logger()
+class BspConfig:
+    def __init__(self, bsp_select: BspType):
+        self.bsp_select = bsp_select
+        self.bsp_dir_name = self.bsp_select.value
+
+        # Store this file in the root of the generators folder
+        self.csv_filename = Path(f"{ROOT_DIR}/{self.bsp_dir_name}_events.csv")
+        self.csv_copy_dest = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/events.csv")
+
+        if (
+            self.bsp_select == BspType.BSP_Q7S
+            or self.bsp_select == BspType.BSP_LINUX_BOARD
+        ):
+            self.fsfw_config_root = Path(f"{OBSW_ROOT_DIR}/linux/fsfwconfig")
+
+        else:
+            self.fsfw_config_root = Path(
+                f"{OBSW_ROOT_DIR}/{self.bsp_dir_name}/fsfwconfig"
+            )
+
+        self.cpp_copy_dest = Path(f"{self.fsfw_config_root}/events/")
+
+        self.subystem_defs_destinations = [
+            f"{self.fsfw_config_root}/events/subsystemIdRanges.h",
+            f"{OBSW_ROOT_DIR}/fsfw/src/fsfw/events/fwSubsystemIdRanges.h",
+            f"{OBSW_ROOT_DIR}/common/config/eive/eventSubsystemIds.h",
+        ]
+
+        self.header_defs_destinations = [
+            f"{OBSW_ROOT_DIR}/mission/",
+            f"{OBSW_ROOT_DIR}/fsfw/",
+            f"{self.fsfw_config_root}",
+            f"{OBSW_ROOT_DIR}/test/",
+            f"{OBSW_ROOT_DIR}/bsp_q7s/",
+            f"{OBSW_ROOT_DIR}/linux/",
+        ]
+
+    def subsystem_defs_as_paths(self):
+        return [Path(x) for x in self.subystem_defs_destinations]
+
+    def header_defs_as_paths(self):
+        return [Path(x) for x in self.header_defs_destinations]
 
 
 def parse_events(
-    generate_csv: bool = True, generate_cpp: bool = True, print_events: bool = True
+    bsp_type: BspType,
+    generate_csv: bool,
+    generate_cpp: bool,
+    copy_csv_to_eive_tmtc: bool,
 ):
-    LOGGER.info("EventParser: Parsing events: ")
+    bsp_cfg = BspConfig(bsp_type)
+    _LOGGER.info(f"EventParser: Parsing events for {bsp_type.name}")
     # Small delay for clean printout
     time.sleep(0.01)
-    event_list = generate_event_list()
-    if print_events:
+    event_list = generate_event_list(bsp_cfg)
+    if PRINT_EVENTS:
         PrettyPrinter.pprint(event_list)
         # Delay for clean printout
         time.sleep(0.1)
     if generate_csv:
         handle_csv_export(
-            file_name=CSV_FILENAME, event_list=event_list, file_separator=FILE_SEPARATOR
-        )
-        LOGGER.info(f"Copying CSV file to {CSV_COPY_DEST}")
-        copy_file(
-            filename=CSV_FILENAME, destination=CSV_COPY_DEST, delete_existing_file=True
+            file_name=bsp_cfg.csv_filename,
+            event_list=event_list,
+            file_separator=FILE_SEPARATOR,
         )
+        if copy_csv_to_eive_tmtc:
+            _LOGGER.info(f"Copying CSV file to {bsp_cfg.cpp_copy_dest}")
+            copy_file(
+                filename=bsp_cfg.csv_filename,
+                destination=bsp_cfg.csv_copy_dest,
+                delete_existing_file=True,
+            )
 
     if generate_cpp:
         handle_cpp_export(
@@ -108,19 +128,21 @@ def parse_events(
             header_file_name=CPP_H_FILENAME,
         )
         if COPY_CPP_FILE:
-            LOGGER.info(
-                f"EventParser: Copying CPP translation file to {CPP_COPY_DESTINATION}"
+            _LOGGER.info(
+                f"EventParser: Copying CPP translation file to {bsp_cfg.cpp_copy_dest}"
             )
-            copy_file(CPP_FILENAME, CPP_COPY_DESTINATION)
-            copy_file(CPP_H_FILENAME, CPP_COPY_DESTINATION)
+            copy_file(CPP_FILENAME, bsp_cfg.cpp_copy_dest)
+            copy_file(CPP_H_FILENAME, bsp_cfg.cpp_copy_dest)
+    _LOGGER.info(f"Parsing done for {bsp_type.name}")
 
 
-def generate_event_list() -> EventDictT:
-    subsystem_parser = SubsystemDefinitionParser(SUBSYSTEM_DEFS_DEST_AS_PATH)
+def generate_event_list(cfg: BspConfig) -> EventDictT:
+    subsystem_parser = SubsystemDefinitionParser(cfg.subsystem_defs_as_paths())
     subsystem_table = subsystem_parser.parse_files()
-    LOGGER.info(f"Found {len(subsystem_table)} subsystem definitions.")
-    PrettyPrinter.pprint(subsystem_table)
-    event_header_parser = FileListParser(HEADER_DEFINITION_DESTINATIONS_AS_PATH)
+    _LOGGER.info(f"Found {len(subsystem_table)} subsystem definitions.")
+    if PRINT_SUBSYSTEM_TABLE:
+        PrettyPrinter.pprint(subsystem_table)
+    event_header_parser = FileListParser(cfg.header_defs_as_paths())
     event_headers = event_header_parser.parse_header_files(
         True, "Parsing event header file list:\n", True
     )
@@ -131,5 +153,5 @@ def generate_event_list() -> EventDictT:
     event_parser.set_moving_window_mode(moving_window_size=7)
     event_table = event_parser.parse_files()
     events_sorted = dict(sorted(event_table.items()))
-    LOGGER.info(f"Found {len(events_sorted)} entries")
+    _LOGGER.info(f"Found {len(events_sorted)} entries")
     return events_sorted

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 245 translations.
+ * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2023-02-03 10:52:53
+ * Generated on: 2023-02-13 10:07:30
  */
 #include "translateEvents.h"
 
@@ -150,7 +150,8 @@ const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
 const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
 const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
-const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
+const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
+const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -200,6 +201,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@@ -245,6 +247,15 @@ const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
 const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
+const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
+const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
+const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
+const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
+const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
+const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -539,7 +550,9 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_ERROR_PDEC_STRING;
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12408):
+      return WRITE_SYSCALL_ERROR_PDEC_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -638,6 +651,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -728,6 +743,24 @@ const char *translateEvents(Event event) {
       return REBOOT_HW_STRING;
     case (14004):
       return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
+    case (14100):
+      return NO_VALID_SENSOR_TEMPERATURE_STRING;
+    case (14101):
+      return NO_HEALTHY_HEATER_AVAILABLE_STRING;
+    case (14102):
+      return SYRLINKS_OVERHEATING_STRING;
+    case (14103):
+      return PLOC_OVERHEATING_STRING;
+    case (14104):
+      return OBC_OVERHEATING_STRING;
+    case (14105):
+      return HPA_OVERHEATING_STRING;
+    case (14106):
+      return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/gen.py

@@ -1,6 +1,11 @@
 #!/usr/bin/env python3
-import time
+import logging
+import sys
 
+import colorlog
+from colorlog import ColoredFormatter
+
+from definitions import BspType
 from objects.objects import parse_objects
 from events.event_parser import parse_events
 from returnvalues.returnvalues_parser import parse_returnvalues
@@ -8,32 +13,59 @@ from fsfwgen.core import (
     return_generic_args_parser,
     init_printout,
 )
-from fsfwgen.logging import get_console_logger
 
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger()
 
 
 def main():
+    set_up_logger()
     init_printout(project_string="EIVE")
     parser = return_generic_args_parser()
     args = parser.parse_args()
-    if args.type == "objects":
-        LOGGER.info(f"Generating objects data")
-        time.sleep(0.05)
-        parse_objects()
-    elif args.type == "events":
-        LOGGER.info(f"Generating event data")
-        time.sleep(0.05)
-        parse_events()
-    elif args.type == "returnvalues":
-        LOGGER.info("Generating returnvalue data")
-        time.sleep(0.05)
-        parse_returnvalues()
-    elif args.type == "all":
-        LOGGER.info("Generating all data")
-        parse_objects()
-        parse_events()
-        parse_returnvalues()
+    parse_handling_for_bsp(args.type, BspType.BSP_HOSTED)
+    parse_handling_for_bsp(args.type, BspType.BSP_Q7S)
+
+
+def set_up_logger():
+    handler = colorlog.StreamHandler(stream=sys.stdout)
+    formatter = ColoredFormatter(
+        "%(log_color)s%(levelname)-8s%(reset)s %(blue)s%(message)s",
+        datefmt=None,
+        reset=True,
+        log_colors={
+            "DEBUG": "cyan",
+            "INFO": "green",
+            "WARNING": "yellow",
+            "ERROR": "red",
+            "CRITICAL": "red,bg_white",
+        },
+        secondary_log_colors={},
+        style="%",
+    )
+    handler.setFormatter(formatter)
+    _LOGGER.addHandler(handler)
+    _LOGGER.setLevel(logging.INFO)
+
+
+def parse_handling_for_bsp(type_arg: str, bsp_select: BspType):
+    if bsp_select == BspType.BSP_Q7S:
+        copy_to_eive_tmtc = True
+    else:
+        copy_to_eive_tmtc = False
+    if type_arg == "objects":
+        _LOGGER.info(f"Generating objects data")
+        parse_objects(bsp_select, copy_to_eive_tmtc)
+    elif type_arg == "events":
+        _LOGGER.info(f"Generating event data")
+        parse_events(bsp_select, True, True, copy_to_eive_tmtc)
+    elif type_arg == "returnvalues":
+        _LOGGER.info("Generating returnvalue data")
+        parse_returnvalues(bsp_select, copy_to_eive_tmtc)
+    elif type_arg == "all":
+        _LOGGER.info("Generating all data")
+        parse_objects(bsp_select, copy_to_eive_tmtc)
+        parse_events(bsp_select, True, True, copy_to_eive_tmtc)
+        parse_returnvalues(bsp_select, copy_to_eive_tmtc)
 
 
 if __name__ == "__main__":

generators/objects/objects.py

@@ -2,10 +2,10 @@
 Object exporter.
 """
 import datetime
+import logging
 import os
 from pathlib import Path
 
-from fsfwgen.logging import get_console_logger
 from fsfwgen.objects.objects import (
     sql_object_exporter,
     ObjectDefinitionParser,
@@ -18,7 +18,7 @@ from fsfwgen.utility.file_management import copy_file
 
 from definitions import BspType, DATABASE_NAME, OBSW_ROOT_DIR, ROOT_DIR
 
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger(__name__)
 DATE_TODAY = datetime.datetime.now()
 DATE_STRING_FULL = DATE_TODAY.strftime("%Y-%m-%d %H:%M:%S")
 
@@ -29,30 +29,42 @@ GENERATE_CPP = True
 COPY_CPP = True
 
 GENERATE_HEADER = True
+PRINT_OBJECTS = False
+
+
+class BspConfig:
+    def __init__(self, bsp_select: BspType):
+        self.bsp_select = bsp_select
+        self.bsp_dir_name = bsp_select.value
+        if (
+            self.bsp_select == BspType.BSP_Q7S
+            or self.bsp_select == BspType.BSP_LINUX_BOARD
+        ):
+            self.fsfw_config_root = f"{OBSW_ROOT_DIR}/linux/fsfwconfig"
+        else:
+            self.fsfw_config_root = f"{OBSW_ROOT_DIR}/{self.bsp_dir_name}/fsfwconfig"
+        self.cpp_copy_dest = Path(f"{self.fsfw_config_root}/objects/")
+        self.csv_obj_filename = f"{ROOT_DIR}/{self.bsp_dir_name}_objects.csv"
+        self.objects_path = Path(f"{self.fsfw_config_root}/objects/systemObjectList.h")
+        self.objects_defs = [
+            self.objects_path,
+            FRAMEWORK_OBJECT_PATH,
+            COMMON_OBJECTS_PATH,
+        ]
 
-BSP_SELECT = BspType.BSP_Q7S
-BSP_DIR_NAME = BSP_SELECT.value
-if BSP_SELECT == BspType.BSP_Q7S or BSP_SELECT == BspType.BSP_LINUX_BOARD:
-    FSFW_CONFIG_ROOT = f"{OBSW_ROOT_DIR}/linux/fsfwconfig"
-else:
-    FSFW_CONFIG_ROOT = f"{OBSW_ROOT_DIR}/{BSP_DIR_NAME}/fsfwconfig"
 
 EXPORT_TO_SQL = True
 
-CPP_COPY_DESTINATION = f"{FSFW_CONFIG_ROOT}/objects/"
 CPP_FILENAME = f"{os.path.dirname(os.path.realpath(__file__))}//translateObjects.cpp"
 CPP_H_FILENAME = f"{os.path.dirname(os.path.realpath(__file__))}//translateObjects.h"
-CSV_OBJECT_FILENAME = f"{ROOT_DIR}/{BSP_SELECT.value}_objects.csv"
 CSV_COPY_DEST = f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/objects.csv"
 FILE_SEPARATOR = ";"
 
 
-OBJECTS_PATH = Path(f"{FSFW_CONFIG_ROOT}/objects/systemObjectList.h")
 FRAMEWORK_OBJECT_PATH = Path(
     f"{OBSW_ROOT_DIR}/fsfw/src/fsfw/objectmanager/frameworkObjects.h"
 )
 COMMON_OBJECTS_PATH = Path(f"{OBSW_ROOT_DIR}/common/config/eive/objects.h")
-OBJECTS_DEFINITIONS = [OBJECTS_PATH, FRAMEWORK_OBJECT_PATH, COMMON_OBJECTS_PATH]
 
 SQL_DELETE_OBJECTS_CMD = """
     DROP TABLE IF EXISTS Objects
@@ -72,20 +84,21 @@ VALUES(?,?)
 """
 
 
-def parse_objects(print_object_list: bool = True):
+def parse_objects(bsp_select: BspType, copy_to_eive_tmtc: bool):
+    cfg = BspConfig(bsp_select)
     # fetch objects
-    object_parser = ObjectDefinitionParser(OBJECTS_DEFINITIONS)
+    object_parser = ObjectDefinitionParser(cfg.objects_defs)
     subsystem_definitions = object_parser.parse_files()
     # id_subsystem_definitions.update(framework_subsystem_definitions)
     list_items = sorted(subsystem_definitions.items())
-    LOGGER.info(f"ObjectParser: Number of objects: {len(list_items)}")
+    _LOGGER.info(f"ObjectParser: Number of objects: {len(list_items)}")
 
-    if print_object_list:
+    if PRINT_OBJECTS:
         PrettyPrinter.pprint(list_items)
 
-    handle_file_export(list_items)
+    handle_file_export(cfg, list_items, copy_to_eive_tmtc)
     if EXPORT_TO_SQL:
-        LOGGER.info("ObjectParser: Exporting to SQL")
+        _LOGGER.info("ObjectParser: Exporting to SQL")
         sql_object_exporter(
             object_table=list_items,
             delete_cmd=SQL_DELETE_OBJECTS_CMD,
@@ -95,29 +108,33 @@ def parse_objects(print_object_list: bool = True):
         )
 
 
-def handle_file_export(list_items):
+def handle_file_export(cfg: BspConfig, list_items, copy_to_eive_tmtc: bool):
     if GENERATE_CPP:
-        LOGGER.info("ObjectParser: Generating C++ translation file")
+        _LOGGER.info("ObjectParser: Generating C++ translation file")
         write_translation_file(
             filename=CPP_FILENAME,
             list_of_entries=list_items,
             date_string_full=DATE_STRING_FULL,
         )
         if COPY_CPP:
-            LOGGER.info("ObjectParser: Copying object file to " + CPP_COPY_DESTINATION)
-            copy_file(CPP_FILENAME, CPP_COPY_DESTINATION)
+            _LOGGER.info(
+                "ObjectParser: Copying object file to " + str(cfg.cpp_copy_dest)
+            )
+            copy_file(Path(CPP_FILENAME), cfg.cpp_copy_dest)
     if GENERATE_HEADER:
         write_translation_header_file(filename=CPP_H_FILENAME)
-        copy_file(filename=CPP_H_FILENAME, destination=CPP_COPY_DESTINATION)
+        copy_file(filename=Path(CPP_H_FILENAME), destination=cfg.cpp_copy_dest)
     if GENERATE_CSV:
-        LOGGER.info("ObjectParser: Generating text export")
+        _LOGGER.info("ObjectParser: Generating text export")
         export_object_file(
-            filename=CSV_OBJECT_FILENAME,
+            filename=cfg.csv_obj_filename,
             object_list=list_items,
             file_separator=FILE_SEPARATOR,
         )
-        copy_file(
-            filename=CSV_OBJECT_FILENAME,
-            destination=CSV_COPY_DEST,
-            delete_existing_file=True,
-        )
+        if copy_to_eive_tmtc:
+            _LOGGER.info(f"ObjectParser: Copying CSV file to {CSV_COPY_DEST}")
+            copy_file(
+                filename=Path(cfg.csv_obj_filename),
+                destination=Path(CSV_COPY_DEST),
+                delete_existing_file=True,
+            )

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 152 translations.
- * Generated on: 2023-02-03 10:52:53
+ * Generated on: 2023-02-13 10:07:30
  */
 #include "translateObjects.h"
 
@@ -63,7 +63,6 @@ const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
 const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
 const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
 const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
-const char *TMP1075_HANDLER_OBC_IF_BOARD_STRING = "TMP1075_HANDLER_OBC_IF_BOARD";
 const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
 const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
 const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
@@ -157,6 +156,7 @@ const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
+const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
@@ -275,8 +275,6 @@ const char *translateObject(object_id_t object) {
       return TMP1075_HANDLER_PLPCDU_1_STRING;
     case 0x44420008:
       return TMP1075_HANDLER_IF_BOARD_STRING;
-    case 0x44420009:
-      return TMP1075_HANDLER_OBC_IF_BOARD_STRING;
     case 0x44420016:
       return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
     case 0x44420017:
@@ -463,6 +461,8 @@ const char *translateObject(object_id_t object) {
       return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
+    case 0x90000003:
+      return THERMAL_TEMP_INSERTER_STRING;
     case 0xFFFFFFFF:
       return NO_OBJECT_STRING;
     default:

generators/requirements.txt

@@ -1 +1,2 @@
-colorlog>=5.0.0
+colorlog==6.7.0
+git+https://egit.irs.uni-stuttgart.de/fsfw/fsfwgen@66e31885a7c87fbb4340cd2a51a13e1196f377af#egg=fsfwgen

generators/returnvalues/returnvalues_parser.py

@@ -3,9 +3,9 @@
 """Part of the MIB export tools for the EIVE project by.
 Returnvalue exporter.
 """
+import logging
 from pathlib import Path
 
-from fsfwgen.logging import get_console_logger
 from fsfwgen.utility.file_management import copy_file
 from fsfwgen.parserbase.file_list_parser import FileListParser
 from fsfwgen.returnvalues.returnvalues_parser import (
@@ -14,47 +14,22 @@ from fsfwgen.returnvalues.returnvalues_parser import (
     RetvalDictT,
 )
 from fsfwgen.utility.sql_writer import SqlWriter
-from fsfwgen.utility.printer import PrettyPrinter
 
 from definitions import BspType, DATABASE_NAME, ROOT_DIR, OBSW_ROOT_DIR
 
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger(__name__)
 EXPORT_TO_FILE = True
 COPY_CSV_FILE = True
 EXPORT_TO_SQL = True
-PRINT_TABLES = True
+PRINT_TABLES = False
 
 
 FILE_SEPARATOR = ";"
 MAX_STRING_LENGTH = 32
 
-BSP_SELECT = BspType.BSP_Q7S
-BSP_DIR_NAME = BSP_SELECT.value
-CSV_RETVAL_FILENAME = Path(f"{ROOT_DIR}/{BSP_SELECT.value}_returnvalues.csv")
+
 CSV_COPY_DEST = Path(f"{OBSW_ROOT_DIR}/tmtc/eive_tmtc/config/returnvalues.csv")
-ADD_LINUX_FOLDER = False
 
-if BSP_SELECT == BspType.BSP_Q7S or BSP_SELECT == BspType.BSP_LINUX_BOARD:
-    FSFW_CONFIG_ROOT = f"{OBSW_ROOT_DIR}/linux/fsfwconfig"
-    ADD_LINUX_FOLDER = True
-else:
-    FSFW_CONFIG_ROOT = f"{OBSW_ROOT_DIR}/{BSP_DIR_NAME}/fsfwconfig"
-BSP_PATH = f"{OBSW_ROOT_DIR}/{BSP_DIR_NAME}"
-
-INTERFACE_DEFINITION_FILES = [
-    f"{OBSW_ROOT_DIR}/fsfw/src/fsfw/returnvalues/FwClassIds.h",
-    f"{OBSW_ROOT_DIR}/common/config/eive/resultClassIds.h",
-    f"{FSFW_CONFIG_ROOT}/returnvalues/classIds.h",
-]
-RETURNVALUE_SOURCES = [
-    f"{OBSW_ROOT_DIR}/mission/",
-    f"{OBSW_ROOT_DIR}/fsfw/",
-    f"{BSP_PATH}",
-]
-RETVAL_SRCS_AS_PATH = [Path(x) for x in RETURNVALUE_SOURCES]
-
-if ADD_LINUX_FOLDER:
-    RETURNVALUE_SOURCES.append(f"{OBSW_ROOT_DIR}/linux")
 
 SQL_DELETE_RETURNVALUES_CMD = """
     DROP TABLE IF EXISTS Returnvalues
@@ -77,38 +52,73 @@ VALUES(?,?,?,?,?)
 """
 
 
-def parse_returnvalues():
-    returnvalue_table = generate_returnvalue_table()
+class BspConfig:
+    def __init__(self, bps_select: BspType):
+        self.bsp_dir_name = bps_select.value
+        self.csv_retval_filename = Path(
+            f"{ROOT_DIR}/{self.bsp_dir_name}_returnvalues.csv"
+        )
+        self.add_linux_folder = False
+        if bps_select == BspType.BSP_Q7S or bps_select == BspType.BSP_LINUX_BOARD:
+            self.fsfw_config_root = f"{OBSW_ROOT_DIR}/linux/fsfwconfig"
+            self.add_linux_folder = True
+        else:
+            self.fsfw_config_root = f"{OBSW_ROOT_DIR}/{self.bsp_dir_name}/fsfwconfig"
+        self.bsp_path = f"{OBSW_ROOT_DIR}/{self.bsp_dir_name}"
+        self.retval_sources = [
+            f"{OBSW_ROOT_DIR}/mission/",
+            f"{OBSW_ROOT_DIR}/fsfw/",
+            f"{self.bsp_path}",
+        ]
+        if self.add_linux_folder:
+            self.retval_sources.append(f"{OBSW_ROOT_DIR}/linux")
+
+    def if_definition_files(self):
+        return [
+            f"{OBSW_ROOT_DIR}/fsfw/src/fsfw/returnvalues/FwClassIds.h",
+            f"{OBSW_ROOT_DIR}/common/config/eive/resultClassIds.h",
+            f"{self.fsfw_config_root}/returnvalues/classIds.h",
+        ]
+
+    def retval_sources_as_path(self):
+        return [Path(x) for x in self.retval_sources]
+
+
+def parse_returnvalues(bsp_select: BspType, copy_to_eive_tmtc: bool):
+    cfg = BspConfig(bsp_select)
+    returnvalue_table = generate_returnvalue_table(cfg)
     if EXPORT_TO_FILE:
         ReturnValueParser.export_to_csv(
-            CSV_RETVAL_FILENAME, returnvalue_table, FILE_SEPARATOR
+            cfg.csv_retval_filename, returnvalue_table, FILE_SEPARATOR
         )
         if COPY_CSV_FILE:
-            copy_file(
-                filename=CSV_RETVAL_FILENAME,
-                destination=CSV_COPY_DEST,
-                delete_existing_file=True,
-            )
+            if copy_to_eive_tmtc:
+                _LOGGER.info(f"Copying CSV to {CSV_COPY_DEST}")
+                copy_file(
+                    filename=cfg.csv_retval_filename,
+                    destination=CSV_COPY_DEST,
+                    delete_existing_file=True,
+                )
     if EXPORT_TO_SQL:
-        LOGGER.info("ReturnvalueParser: Exporting to SQL")
+        _LOGGER.info("ReturnvalueParser: Exporting to SQL")
         sql_retval_exporter(
             returnvalue_table, db_filename=f"{ROOT_DIR}/{DATABASE_NAME}"
         )
 
 
-def generate_returnvalue_table():
+def generate_returnvalue_table(cfg: BspConfig):
     """Core function to parse for the return values"""
     interface_parser = InterfaceParser(
-        file_list=INTERFACE_DEFINITION_FILES, print_table=PRINT_TABLES
+        file_list=cfg.if_definition_files(), print_table=PRINT_TABLES
     )
     interfaces = interface_parser.parse_files()
-    header_parser = FileListParser(RETVAL_SRCS_AS_PATH)
+    header_parser = FileListParser(cfg.retval_sources_as_path())
     header_list = header_parser.parse_header_files(True, "Parsing header file list: ")
     returnvalue_parser = ReturnValueParser(interfaces, header_list, PRINT_TABLES)
     returnvalue_parser.obsw_root_path = OBSW_ROOT_DIR
     returnvalue_parser.set_moving_window_mode(moving_window_size=7)
     returnvalue_table = returnvalue_parser.parse_files(True)
-    LOGGER.info(f"ReturnvalueParser: Found {len(returnvalue_table)} returnvalues")
+    _LOGGER.info(f"ReturnvalueParser: Found {len(returnvalue_table)} returnvalues")
     return returnvalue_table
 
 

linux/ObjectFactory.cpp

@@ -11,21 +11,19 @@
 #include <linux/callbacks/gpioCallbacks.h>
 #include <linux/devices/Max31865RtdLowlevelHandler.h>
 #include <mission/controller/AcsController.h>
-#include <mission/controller/ThermalController.h>
 #include <mission/devices/Max31865EiveHandler.h>
-#include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/ScexDeviceHandler.h>
 #include <mission/devices/SusHandler.h>
 #include <mission/system/fdir/RtdFdir.h>
 #include <mission/system/fdir/SusFdir.h>
+#include <mission/system/objects/SusAssembly.h>
+#include <mission/system/objects/TcsBoardAssembly.h>
 
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
-#include "mission/system/objects/SusAssembly.h"
-#include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
@@ -81,6 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   std::array<SusHandler*, 12> susHandlers = {};
   SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[0] =
       new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
@@ -88,6 +87,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[1] =
       new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
@@ -95,6 +95,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[2] =
       new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
@@ -102,6 +103,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[3] =
       new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
@@ -109,6 +111,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[4] =
       new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
@@ -116,6 +119,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[5] =
       new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
@@ -123,6 +127,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
@@ -130,6 +135,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[7] =
       new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
@@ -137,6 +143,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[8] =
       new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
@@ -144,6 +151,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[9] =
       new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
@@ -151,6 +159,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[10] =
       new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
@@ -158,6 +167,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 
   spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
   susHandlers[11] =
       new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
@@ -342,11 +352,6 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
   scexHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
 }
 
-void ObjectFactory::createThermalController() {
-  auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER);
-  tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
-}
-
 AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
   auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
   if (connectSubsystem) {
@@ -363,6 +368,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
 
 void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
                                             PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
-  cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
-  pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
+  cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
+  pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
 }

linux/ObjectFactory.h

@@ -11,6 +11,8 @@
 #include <optional>
 #include <string>
 
+#include "mission/devices/HeaterHandler.h"
+
 class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
@@ -29,10 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 
 void gpioChecker(ReturnValue_t result, std::string output);
 
-void createThermalController();
 AcsController* createAcsController(bool connectSubsystem);
 
 void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
                              CfdpTmFunnel& cfdpFunnel);
-
 }  // namespace ObjectFactory

linux/boardtest/I2cTestClass.h

@@ -1,7 +1,7 @@
 #ifndef LINUX_BOARDTEST_I2CTESTCLASS_H_
 #define LINUX_BOARDTEST_I2CTESTCLASS_H_
 
-#include <test/testtasks/TestTask.h>
+#include <test/TestTask.h>
 
 #include <array>
 #include <string>

linux/boardtest/LibgpiodTest.h

@@ -5,7 +5,7 @@
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
-#include "TestTask.h"
+#include "test/TestTask.h"
 
 /**
  * @brief   Test for the GPIO read implementation of the LinuxLibgpioIF.

linux/boardtest/SpiTestClass.h

@@ -13,7 +13,7 @@
 
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
-#include <test/testtasks/TestTask.h>
+#include <test/TestTask.h>
 
 #include <vector>
 

linux/boardtest/UartTestClass.h

@@ -12,7 +12,7 @@
 
 #include "lwgps/lwgps.h"
 #include "mission/devices/devicedefinitions/ScexDefinitions.h"
-#include "test/testtasks/TestTask.h"
+#include "test/TestTask.h"
 
 class ScexUartReader;
 class ScexDleParser;

linux/devices/GpsHyperionLinuxController.cpp

@@ -34,7 +34,6 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
-      gpsNotOpenSwitch = true;
       // 5h time to reach fix
       *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
       maxTimeToReachFix.resetTimer();
@@ -44,7 +43,13 @@ ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
     }
   }
   if (mode == MODE_OFF) {
+    PoolReadGuard pg(&gpsSet);
     gpsSet.setValidity(false, true);
+    // There can't be a fix with a device that is off.
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, 0);
+    gpsSet.fixMode.value = 0;
+    oneShotSwitches.reset();
+    modeCommanded = false;
   }
   return returnvalue::OK;
 }
@@ -101,6 +106,7 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
     if (not callAgainImmediately) {
       handleQueue();
       poolManager.performHkOperation();
+      TaskFactory::delayTask(250);
     }
   }
   // Should never be reached.
@@ -113,25 +119,24 @@ ReturnValue_t GpsHyperionLinuxController::initialize() {
     return result;
   }
   auto openError = [&](const char *type, int error) {
-    if (gpsNotOpenSwitch) {
-      // Opening failed
+  // Opening failed
 #if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
-                   << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+                 << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
 #endif
-      gpsNotOpenSwitch = false;
-    }
   };
   if (readMode == ReadModes::SOCKET) {
     int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
     if (retval != 0) {
       openError("Socket", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
     gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
   } else if (readMode == ReadModes::SHM) {
     int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
     if (retval != 0) {
       openError("SHM", retval);
+      return ObjectManager::CHILD_INIT_FAILED;
     }
   }
   return result;
@@ -145,35 +150,40 @@ void GpsHyperionLinuxController::performControlOperation() {}
 
 bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
   auto readError = [&]() {
-    if (gpsReadFailedSwitch) {
-      gpsReadFailedSwitch = false;
+    if (oneShotSwitches.gpsReadFailedSwitch) {
+      oneShotSwitches.gpsReadFailedSwitch = false;
       sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
                       "Error "
                    << errno << " | " << gps_errstr(errno) << std::endl;
     }
   };
+  // GPS is off, no point in reading data from GPSD.
+  if (mode == MODE_OFF) {
+    return false;
+  }
   if (readMode == ReadModes::SOCKET) {
-    // Perform other necessary handling if not data seen for 0.2 seconds.
-    if (gps_waiting(&gps, 200000)) {
+    // Poll the GPS.
+    if (gps_waiting(&gps, 0)) {
       if (-1 == gps_read(&gps)) {
         readError();
         return false;
       }
+      oneShotSwitches.gpsReadFailedSwitch = true;
+      // did not event get mode, nothing to see.
       if (MODE_SET != (MODE_SET & gps.set)) {
-        if (mode == MODE_ON) {
-          if (noModeSetCntr >= 0) {
-            noModeSetCntr++;
+        if (mode != MODE_OFF) {
+          if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
+            sif::warning
+                << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
+                << maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
+            triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
+            oneShotSwitches.cantGetFixSwitch = false;
           }
-          if (noModeSetCntr == 10) {
-            // TODO: Trigger event here
-            sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
-                            "read for 10 consecutive reads"
-                         << std::endl;
-            noModeSetCntr = -1;
-          }
-          // did not event get mode, nothing to see.
-          return false;
+          // Mode is on, so do next read immediately
+          return true;
         }
+        // GPS device is off anyway, so do other handling
+        return false;
       }
       noModeSetCntr = 0;
     } else {
@@ -198,51 +208,58 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
 
   bool validFix = false;
-  static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps.fix.mode;
-  if (newFixMode == 2 or newFixMode == 3) {
+  if (gps.fix.mode == 2 or gps.fix.mode == 3) {
     validFix = true;
   }
-  if (gpsSet.fixMode.value != newFixMode) {
-    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
+  if (gpsSet.fixMode.value != gps.fix.mode) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
   }
-  gpsSet.fixMode.value = newFixMode;
+  gpsSet.fixMode.value = gps.fix.mode;
   if (gps.fix.mode == 0 or gps.fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
-      // We are supposed to be on and functioning, but not fix was found
+      // We are supposed to be on and functioning, but no fix was found
       if (mode == MODE_ON or mode == MODE_NORMAL) {
         mode = MODE_OFF;
       }
       modeCommanded = false;
     }
     gpsSet.setValidity(false, true);
-  } else if (gps.satellites_used > 0) {
+  } else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
     gpsSet.setValidity(true, true);
   }
 
   gpsSet.satInUse.value = gps.satellites_used;
   gpsSet.satInView.value = gps.satellites_visible;
 
+  bool latValid = false;
   if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
     gpsSet.latitude.value = gps.fix.latitude;
-  } else {
-    gpsSet.latitude.setValid(false);
+    if (gps.fix.mode >= 2) {
+      latValid = true;
+    }
   }
+  gpsSet.latitude.setValid(latValid);
 
+  bool longValid = false;
   if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
     gpsSet.longitude.value = gps.fix.longitude;
-  } else {
-    gpsSet.longitude.setValid(false);
+    if (gps.fix.mode >= 2) {
+      longValid = true;
+    }
   }
+  gpsSet.latitude.setValid(longValid);
 
+  bool altitudeValid = false;
   if (std::isfinite(gps.fix.altitude)) {
     gpsSet.altitude.value = gps.fix.altitude;
-  } else {
-    gpsSet.altitude.setValid(false);
+    if (gps.fix.mode == 3) {
+      altitudeValid = true;
+    }
   }
+  gpsSet.altitude.setValid(altitudeValid);
 
   if (std::isfinite(gps.fix.speed)) {
     gpsSet.speed.value = gps.fix.speed;
@@ -250,59 +267,44 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
     gpsSet.speed.setValid(false);
   }
 
+  if (TIME_SET == (TIME_SET & gps.set)) {
+    timeval time = {};
 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps.fix.time;
+    gpsSet.unixSeconds.value = std::floor(gps.fix.time);
+    double fractionalPart = gps.fix.time - gpsSet.unixSeconds.value;
+    time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
+    gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
+    time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
-  timeval time = {};
-  time.tv_sec = gpsSet.unixSeconds.value;
-#if LIBGPS_VERSION_MINOR <= 17
-  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
-  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
-#else
-  time.tv_usec = gps.fix.time.tv_nsec / 1000;
-#endif
-  std::time_t t = std::time(nullptr);
-  if (time.tv_sec == t) {
-    timeIsConstantCounter++;
+    time.tv_sec = gpsSet.unixSeconds.value;
+    // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC
+    // and no time file available) we set it with the roughly valid time from the GPS.
+    // NTP might only work if the time difference between sys time and current time is not too
+    // large.
+    overwriteTimeIfNotSane(time, validFix);
+    Clock::TimeOfDay_t timeOfDay = {};
+    Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
+    gpsSet.year = timeOfDay.year;
+    gpsSet.month = timeOfDay.month;
+    gpsSet.day = timeOfDay.day;
+    gpsSet.hours = timeOfDay.hour;
+    gpsSet.minutes = timeOfDay.minute;
+    gpsSet.seconds = timeOfDay.second;
   } else {
-    timeIsConstantCounter = 0;
-  }
-  if (timeInit and validFix) {
-    if (not utility::timeSanityCheck()) {
-#if OBSW_VERBOSE_LEVEL >= 1
-      time_t timeRaw = time.tv_sec;
-      std::tm *timeTm = std::gmtime(&timeRaw);
-      sif::info << "Setting invalid system time from GPS data directly: "
-                << std::put_time(timeTm, "%c %Z") << std::endl;
-#endif
-      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
-      Clock::setClock(&time);
-    }
-    timeInit = false;
-  }
-  // If the received time does not change anymore for whatever reason, do not set it here
-  // to avoid stale times. Also, don't do it too often often to avoid jumping times
-  if (timeIsConstantCounter < 20 and timeUpdateCd.hasTimedOut()) {
-    // Update the system time here for now. NTP seems to be unable to do so for whatever reason.
-    // Further tests have shown that the time seems to be set by NTPD after some time..
-    // Clock::setClock(&time);
-    timeUpdateCd.resetTimer();
+    gpsSet.unixSeconds.setValid(false);
+    gpsSet.year.setValid(false);
+    gpsSet.month.setValid(false);
+    gpsSet.day.setValid(false);
+    gpsSet.hours.setValid(false);
+    gpsSet.minutes.setValid(false);
+    gpsSet.seconds.setValid(false);
   }
 
-  Clock::TimeOfDay_t timeOfDay = {};
-  Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
-  gpsSet.year = timeOfDay.year;
-  gpsSet.month = timeOfDay.month;
-  gpsSet.day = timeOfDay.day;
-  gpsSet.hours = timeOfDay.hour;
-  gpsSet.minutes = timeOfDay.minute;
-  gpsSet.seconds = timeOfDay.second;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps.fix.time;
+    time_t timeRaw = gpsSet.unixSeconds.value;
 #else
     time_t timeRaw = gps.fix.time.tv_sec;
 #endif
@@ -325,3 +327,19 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
   return returnvalue::OK;
 }
+
+void GpsHyperionLinuxController::overwriteTimeIfNotSane(timeval time, bool validFix) {
+  if (not timeInit and validFix) {
+    if (not utility::timeSanityCheck()) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      time_t timeRaw = time.tv_sec;
+      std::tm *timeTm = std::gmtime(&timeRaw);
+      sif::info << "Overwriting invalid system time from GPS data directly: "
+                << std::put_time(timeTm, "%c %Z") << std::endl;
+#endif
+      // For some reason, the clock needs to be somewhat correct for NTP to work. Really dumb..
+      Clock::setClock(&time);
+    }
+    timeInit = true;
+  }
+}

linux/devices/GpsHyperionLinuxController.h

@@ -58,18 +58,30 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   const char* currentClientBuf = nullptr;
   ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
-  bool modeCommanded = true;
-  bool timeInit = true;
-  bool gpsNotOpenSwitch = true;
-  bool gpsReadFailedSwitch = true;
+  bool modeCommanded = false;
+  bool timeInit = false;
+
+  struct OneShotSwitches {
+    void reset() {
+      gpsReadFailedSwitch = true;
+      cantGetFixSwitch = true;
+    }
+    bool gpsReadFailedSwitch = true;
+    bool cantGetFixSwitch = true;
+
+  } oneShotSwitches;
+
   bool debugHyperionGps = false;
   int32_t noModeSetCntr = 0;
-  uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);
 
   // Returns true if the function should be called again or false if other
   // controller handling can be done.
   bool readGpsDataFromGpsd();
+  // If the time is totally wrong (e.g. year 2000 after system reset because we do not have a RTC)
+  // we set it with the roughly valid time from the GPS. For some reason, NTP might only work
+  // if the time difference between sys time and current time is not too large
+  void overwriteTimeIfNotSane(timeval time, bool validFix);
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -58,26 +58,27 @@ bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
 
 bool Max31865RtdReader::periodicInitHandling() {
   using namespace MAX31865;
-  MutexGuard mg(readerMutex);
   ReturnValue_t result = returnvalue::OK;
-  if (mg.getLockResult() != returnvalue::OK) {
-    sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
-    return false;
-  }
 
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
+    MutexGuard mg(readerMutex);
+    if (mg.getLockResult() != returnvalue::OK) {
+      sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
+      return false;
+    }
     if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
-      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
-      if (mg.lockResult != returnvalue::OK or mg.gpioResult != returnvalue::OK) {
+      ManualCsLockWrapper mg1(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg1.lockResult != returnvalue::OK or mg1.gpioResult != returnvalue::OK) {
         sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        break;
+        continue;
       }
       result = writeCfgReg(rtd->spiCookie, BASE_CFG);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "writeCfgReg");
+        continue;
       }
       if (rtd->writeLowThreshold) {
         result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
@@ -116,16 +117,16 @@ bool Max31865RtdReader::periodicInitHandling() {
 
 ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
   using namespace MAX31865;
-  MutexGuard mg(readerMutex);
-  if (mg.getLockResult() != returnvalue::OK) {
-    sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
-    return returnvalue::FAILED;
-  }
   // Now request one shot config for all active RTDs
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
+    MutexGuard mg(readerMutex);
+    if (mg.getLockResult() != returnvalue::OK) {
+      sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
+      return returnvalue::FAILED;
+    }
     if (rtdIsActive(rtd->idx)) {
       ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
       if (result != returnvalue::OK) {
@@ -141,27 +142,33 @@ ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
 ReturnValue_t Max31865RtdReader::periodicReadHandling() {
   using namespace MAX31865;
   auto result = returnvalue::OK;
-  MutexGuard mg(readerMutex);
-  if (mg.getLockResult() != returnvalue::OK) {
-    sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
-    return returnvalue::FAILED;
-  }
   // Now read the RTD values
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
+    MutexGuard mg(readerMutex);
+    if (mg.getLockResult() != returnvalue::OK) {
+      sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
+      return returnvalue::FAILED;
+    }
     if (rtdIsActive(rtd->idx)) {
+      ManualCsLockWrapper mg1(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg1.lockResult != returnvalue::OK or mg1.gpioResult != returnvalue::OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        continue;
+      }
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
       result = writeCfgReg(rtd->spiCookie, BASE_CFG);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "writeCfgReg");
+        continue;
       }
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "readRtdVal");
-        return returnvalue::FAILED;
+        continue;
       }
       if (faultBitSet) {
         rtd->db.faultBitSet = faultBitSet;

linux/devices/Max31865RtdLowlevelHandler.h

@@ -3,9 +3,11 @@
 
 #include <fsfw/ipc/MutexIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/timemanager/clockDefinitions.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 
+#include "devConf.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
@@ -50,8 +52,8 @@ class Max31865RtdReader : public SystemObject,
 
   SpiComIF* comIF;
   GpioIF* gpioIF;
-  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::BLOCKING;
-  uint32_t csTimeoutMs = 0;
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
   MutexIF* csLock = nullptr;
 
   bool periodicInitHandling();

linux/devices/ploc/PlocSupervisorHandler.cpp

@@ -704,8 +704,9 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::NVM0_1_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::NVM3_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::MISSION_IO_STATE, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(supv::FMC_STATE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::FMC_STATE, &fmcStateEntry);
   localDataPoolMap.emplace(supv::NUM_TCS, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(supv::TEMP_SUP, &tempSupEntry);
   localDataPoolMap.emplace(supv::UPTIME, new PoolEntry<uint64_t>({0}));
   localDataPoolMap.emplace(supv::CPULOAD, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(supv::AVAILABLEHEAP, new PoolEntry<uint32_t>({0}));
@@ -718,6 +719,8 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
   localDataPoolMap.emplace(supv::BP0_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::BP1_STATE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::BP2_STATE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(supv::BOOT_STATE, &bootStateEntry);
+  localDataPoolMap.emplace(supv::BOOT_CYCLES, &bootCyclesEntry);
 
   localDataPoolMap.emplace(supv::LATCHUP_ID, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(supv::CNT0, new PoolEntry<uint16_t>({0}));

linux/devices/ploc/PlocSupervisorHandler.h

@@ -156,6 +156,11 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   Countdown bootTimeout = Countdown(BOOT_TIMEOUT);
   Countdown mramDumpTimeout = Countdown(MRAM_DUMP_TIMEOUT);
 
+  PoolEntry<uint8_t> fmcStateEntry = PoolEntry<uint8_t>(1);
+  PoolEntry<uint8_t> bootStateEntry = PoolEntry<uint8_t>(1);
+  PoolEntry<uint8_t> bootCyclesEntry = PoolEntry<uint8_t>(1);
+  PoolEntry<uint32_t> tempSupEntry = PoolEntry<uint32_t>(1);
+
   /**
    * @brief Adjusts the timeout of the execution report dependent on command
    */

linux/fsfwconfig/FSFWConfig.h.in

@@ -34,7 +34,7 @@
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
+#define FSFW_DEBUG_INFO				@FSFW_DEBUG_INFO@
 #include "objects/translateObjects.h"
 #include "events/translateEvents.h"
 #else

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 245 translations.
+ * @brief    Auto-generated event translation file. Contains 256 translations.
  * @details
- * Generated on: 2023-02-03 10:52:53
+ * Generated on: 2023-02-13 10:07:30
  */
 #include "translateEvents.h"
 
@@ -150,7 +150,8 @@ const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
 const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
 const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
-const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
+const char *POLL_SYSCALL_ERROR_PDEC_STRING = "POLL_SYSCALL_ERROR_PDEC";
+const char *WRITE_SYSCALL_ERROR_PDEC_STRING = "WRITE_SYSCALL_ERROR_PDEC";
 const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
 const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
 const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@@ -200,6 +201,7 @@ const char *POWER_STATE_MACHINE_TIMEOUT_STRING = "POWER_STATE_MACHINE_TIMEOUT";
 const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
+const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
@@ -245,6 +247,15 @@ const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
 const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *VERSION_INFO_STRING = "VERSION_INFO";
+const char *CURRENT_IMAGE_INFO_STRING = "CURRENT_IMAGE_INFO";
+const char *NO_VALID_SENSOR_TEMPERATURE_STRING = "NO_VALID_SENSOR_TEMPERATURE";
+const char *NO_HEALTHY_HEATER_AVAILABLE_STRING = "NO_HEALTHY_HEATER_AVAILABLE";
+const char *SYRLINKS_OVERHEATING_STRING = "SYRLINKS_OVERHEATING";
+const char *PLOC_OVERHEATING_STRING = "PLOC_OVERHEATING";
+const char *OBC_OVERHEATING_STRING = "OBC_OVERHEATING";
+const char *HPA_OVERHEATING_STRING = "HPA_OVERHEATING";
+const char *PLPCDU_OVERHEATING_STRING = "PLPCDU_OVERHEATING";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -539,7 +550,9 @@ const char *translateEvents(Event event) {
     case (12406):
       return LOST_BIT_LOCK_PDEC_STRING;
     case (12407):
-      return POLL_ERROR_PDEC_STRING;
+      return POLL_SYSCALL_ERROR_PDEC_STRING;
+    case (12408):
+      return WRITE_SYSCALL_ERROR_PDEC_STRING;
     case (12500):
       return IMAGE_UPLOAD_FAILED_STRING;
     case (12501):
@@ -638,6 +651,8 @@ const char *translateEvents(Event event) {
       return CHILDREN_LOST_MODE_STRING;
     case (13100):
       return GPS_FIX_CHANGE_STRING;
+    case (13101):
+      return CANT_GET_FIX_STRING;
     case (13200):
       return P60_BOOT_COUNT_STRING;
     case (13201):
@@ -728,6 +743,24 @@ const char *translateEvents(Event event) {
       return REBOOT_HW_STRING;
     case (14004):
       return NO_SD_CARD_ACTIVE_STRING;
+    case (14005):
+      return VERSION_INFO_STRING;
+    case (14006):
+      return CURRENT_IMAGE_INFO_STRING;
+    case (14100):
+      return NO_VALID_SENSOR_TEMPERATURE_STRING;
+    case (14101):
+      return NO_HEALTHY_HEATER_AVAILABLE_STRING;
+    case (14102):
+      return SYRLINKS_OVERHEATING_STRING;
+    case (14103):
+      return PLOC_OVERHEATING_STRING;
+    case (14104):
+      return OBC_OVERHEATING_STRING;
+    case (14105):
+      return HPA_OVERHEATING_STRING;
+    case (14106):
+      return PLPCDU_OVERHEATING_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 152 translations.
- * Generated on: 2023-02-03 10:52:53
+ * Generated on: 2023-02-13 10:07:30
  */
 #include "translateObjects.h"
 
@@ -63,7 +63,6 @@ const char *TMP1075_HANDLER_TCS_1_STRING = "TMP1075_HANDLER_TCS_1";
 const char *TMP1075_HANDLER_PLPCDU_0_STRING = "TMP1075_HANDLER_PLPCDU_0";
 const char *TMP1075_HANDLER_PLPCDU_1_STRING = "TMP1075_HANDLER_PLPCDU_1";
 const char *TMP1075_HANDLER_IF_BOARD_STRING = "TMP1075_HANDLER_IF_BOARD";
-const char *TMP1075_HANDLER_OBC_IF_BOARD_STRING = "TMP1075_HANDLER_OBC_IF_BOARD";
 const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
 const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
 const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
@@ -157,6 +156,7 @@ const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
+const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
@@ -275,8 +275,6 @@ const char *translateObject(object_id_t object) {
       return TMP1075_HANDLER_PLPCDU_1_STRING;
     case 0x44420008:
       return TMP1075_HANDLER_IF_BOARD_STRING;
-    case 0x44420009:
-      return TMP1075_HANDLER_OBC_IF_BOARD_STRING;
     case 0x44420016:
       return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
     case 0x44420017:
@@ -463,6 +461,8 @@ const char *translateObject(object_id_t object) {
       return COM_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
+    case 0x90000003:
+      return THERMAL_TEMP_INSERTER_STRING;
     case 0xFFFFFFFF:
       return NO_OBJECT_STRING;
     default:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -5,6 +5,7 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "eive/definitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
 #ifndef RPI_TEST_ADIS16507
@@ -15,38 +16,17 @@
 #define RPI_TEST_GPS_HANDLER 0
 #endif
 
-ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
-  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+#if OBSW_ADD_SYRLINKS == 1
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
 
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
-
-  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
-  return thisSequence->checkSequence();
-}
-
-ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
-  uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
 #if OBSW_ADD_PL_PCDU == 1
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -56,271 +36,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_SUN_SENSORS == 1
-
-  bool addSus0 = true;
-  bool addSus1 = true;
-  bool addSus2 = true;
-  bool addSus3 = true;
-  bool addSus4 = true;
-  bool addSus5 = true;
-  bool addSus6 = true;
-  bool addSus7 = true;
-  bool addSus8 = true;
-  bool addSus9 = true;
-  bool addSus10 = true;
-  bool addSus11 = true;
-
-  if (addSus0) {
-    /* Write setup */
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-  if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-
-  if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-                          DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-                          DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-
 #if OBSW_ADD_RAD_SENSORS == 1
   /* Radiation sensor */
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -330,74 +45,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#if OBSW_ADD_ACS_BOARD == 1
-  bool enableAside = true;
-  bool enableBside = true;
-  if (enableAside) {
-    // A side
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-
-  if (enableBside) {
-    // B side
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
-                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
-  }
-#endif /* OBSW_ADD_ACS_BOARD == 1 */
-
   return thisSequence->checkSequence();
 }
 
@@ -407,23 +54,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-#if OBSW_ADD_MGT == 1
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
-#endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -481,29 +111,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   return thisSequence->checkSequence();
 }
 
-ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
-  // Length of a communication cycle
-  uint32_t length = thisSequence->getPeriodMs();
-  static_cast<void>(length);
-
-#if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-  return thisSequence->checkSequence();
-}
-
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
   // PCDU handlers receives two messages and both must be handled
@@ -576,3 +183,506 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
+  /* Length of a communication cycle */
+  uint32_t length = thisSequence->getPeriodMs();
+  bool enableAside = true;
+  bool enableBside = true;
+  if (cfg.scheduleAcsBoard) {
+    if (enableAside) {
+      // A side
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+    }
+
+    if (enableBside) {
+      // B side
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::GET_READ);
+    }
+  }
+  // SUS: 16 ms
+
+  bool addSus0 = true;
+  bool addSus1 = true;
+  bool addSus2 = true;
+  bool addSus3 = true;
+  bool addSus4 = true;
+  bool addSus5 = true;
+  bool addSus6 = true;
+  bool addSus7 = true;
+  bool addSus8 = true;
+  bool addSus9 = true;
+  bool addSus10 = true;
+  bool addSus11 = true;
+
+  if (cfg.scheduleSus) {
+    if (addSus0) {
+      /* Write setup */
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus1) {
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus2) {
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus3) {
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus4) {
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+    if (addSus5) {
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus6) {
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus7) {
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus8) {
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus9) {
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus10) {
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+
+    if (addSus11) {
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::PERFORM_OPERATION);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                            DeviceHandlerIF::GET_READ);
+
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD,
+                            DeviceHandlerIF::SEND_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
+      thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
+                            length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+    }
+  }
+
+  if (cfg.scheduleStr) {
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+  }
+
+  if (cfg.scheduleImtq) {
+    // This is the MTM measurement cycle
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
+
+  if (cfg.scheduleImtq) {
+    // This is the torquing cycle.
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+  }
+
+  if (cfg.scheduleRws) {
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_WRITE);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::SEND_READ);
+
+    thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::GET_READ);
+  }
+  return returnvalue::OK;
+}

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -31,6 +31,14 @@ class FixedTimeslotTaskIF;
  */
 namespace pst {
 
+struct AcsPstCfg {
+  bool scheduleAcsBoard = true;
+  bool scheduleImtq = true;
+  bool scheduleRws = true;
+  bool scheduleSus = true;
+  bool scheduleStr = true;
+};
+
 /**
  * @brief	This function creates the PST for all gomspace devices.
  * @details
@@ -39,11 +47,9 @@ namespace pst {
  */
 ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
-
-ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);
 
 ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
 

linux/ipcore/PdecHandler.cpp

@@ -132,6 +132,7 @@ ReturnValue_t PdecHandler::polledOperation() {
   return returnvalue::OK;
 }
 
+// See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
 ReturnValue_t PdecHandler::irqOperation() {
   ReturnValue_t result = returnvalue::OK;
   int fd = open(uioNames.irq, O_RDWR);
@@ -141,15 +142,17 @@ ReturnValue_t PdecHandler::irqOperation() {
     return returnvalue::FAILED;
   }
 
-  struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
   // Used to unmask IRQ
   uint32_t info = 1;
   ssize_t nb = 0;
   int ret = 0;
-  // Clear interrupts with dummy read before unmasking the interrupt
-  ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
+  // Clear interrupts with dummy read before unmasking the interrupt. Use a volatile to prevent
+  // read being optimized away.
+  volatile uint32_t dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
 
   while (true) {
+    // Default value to unmask IRQ on the write call.
+    info = 1;
     readCommandQueue();
     switch (state) {
       case State::INIT:
@@ -166,9 +169,12 @@ ReturnValue_t PdecHandler::irqOperation() {
         nb = write(fd, &info, sizeof(info));
         if (nb != static_cast<ssize_t>(sizeof(info))) {
           sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
+          triggerEvent(WRITE_SYSCALL_ERROR_PDEC, errno);
           close(fd);
+          state = State::INIT;
+          return returnvalue::FAILED;
         }
-
+        struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
         ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
         if (ret == 0) {
           // No TCs for timeout period
@@ -195,12 +201,15 @@ ReturnValue_t PdecHandler::irqOperation() {
               lockCheckCd.resetTimer();
             }
             // Clear interrupts with dummy read
-            ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
+            dummy = *(registerBaseAddress + PDEC_PIR_OFFSET);
           }
         } else {
           sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
                      << strerror(errno) << std::endl;
-          triggerEvent(POLL_ERROR_PDEC, errno);
+          triggerEvent(POLL_SYSCALL_ERROR_PDEC, errno);
+          close(fd);
+          state = State::INIT;
+          return returnvalue::FAILED;
         }
         break;
       }
@@ -211,6 +220,8 @@ ReturnValue_t PdecHandler::irqOperation() {
         break;
     }
   }
+  // To avoid compiler warning
+  static_cast<void>(dummy);
   return returnvalue::OK;
 }
 

linux/ipcore/PdecHandler.h

@@ -87,7 +87,10 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
   static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
   //! [EXPORT] : [COMMENT] Lost bit lock
   static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
-  static constexpr Event POLL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
+  static constexpr Event POLL_SYSCALL_ERROR_PDEC =
+      event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
+  static constexpr Event WRITE_SYSCALL_ERROR_PDEC =
+      event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;

mission/CMakeLists.txt

@@ -8,3 +8,5 @@ add_subdirectory(system)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
 add_subdirectory(config)
+
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp)

mission/acsDefs.cpp

@@ -0,0 +1,40 @@
+#include "acsDefs.h"
+
+const char* acs::getModeStr(AcsMode mode) {
+  static const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (acs::AcsMode::OFF): {
+      modeStr = "OFF";
+      break;
+    }
+    case (acs::AcsMode::SAFE): {
+      modeStr = "SAFE";
+      break;
+    }
+    case (acs::AcsMode::DETUMBLE): {
+      modeStr = "DETUBMLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_NADIR): {
+      modeStr = "POITNING NADIR";
+      break;
+    }
+    case (acs::AcsMode::PTG_IDLE): {
+      modeStr = "POINTING IDLE";
+      break;
+    }
+    case (acs::AcsMode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET): {
+      modeStr = "POINTING TARGET";
+      break;
+    }
+    case (acs::AcsMode::PTG_TARGET_GS): {
+      modeStr = "POINTING TARGET GS";
+      break;
+    }
+  }
+  return modeStr;
+}

mission/acsDefs.h

@@ -6,15 +6,16 @@
 
 namespace acs {
 
-enum CtrlSubmode {
+// These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
+enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,
   SAFE = 10,
   DETUMBLE = 11,
-  IDLE = 12,
-  PTG_TARGET_NADIR = 13,
+  PTG_IDLE = 12,
+  PTG_NADIR = 13,
   PTG_TARGET = 14,
   PTG_TARGET_GS = 15,
-  PTG_TARGET_INERTIAL = 16,
+  PTG_INERTIAL = 16,
 };
 
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
@@ -23,6 +24,8 @@ static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
 //!< The system has recovered from a safe rate rotation violation.
 static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 
+extern const char* getModeStr(AcsMode mode);
+
 }  // namespace acs
 
 #endif /* MISSION_ACSDEFS_H_ */

mission/controller/AcsController.cpp

@@ -15,6 +15,7 @@ AcsController::AcsController(object_id_t objectId)
       detumble(&acsParameters),
       ptgCtrl(&acsParameters),
       detumbleCounter{0},
+      parameterHelper(this),
       mgmDataRaw(this),
       mgmDataProcessed(this),
       susDataRaw(this),
@@ -27,7 +28,25 @@ AcsController::AcsController(object_id_t objectId)
       actuatorCmdData(this) {}
 
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
-  return returnvalue::OK;
+  ReturnValue_t result = actionHelper.handleActionMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  result = parameterHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+MessageQueueId_t AcsController::getCommandQueue() const { return commandQueue->getId(); }
+
+ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
+                                          ParameterWrapper *parameterWrapper,
+                                          const ParameterWrapper *newValues,
+                                          uint16_t startAtIndex) {
+  return acsParameters.getParameter(domainId, parameterId, parameterWrapper, newValues,
+                                    startAtIndex);
 }
 
 void AcsController::performControlOperation() {
@@ -52,9 +71,11 @@ void AcsController::performControlOperation() {
           case acs::DETUMBLE:
             performDetumble();
             break;
+          case acs::PTG_IDLE:
           case acs::PTG_TARGET:
-          case acs::PTG_TARGET_NADIR:
-          case acs::PTG_TARGET_INERTIAL:
+          case acs::PTG_TARGET_GS:
+          case acs::PTG_NADIR:
+          case acs::PTG_INERTIAL:
             performPointingCtrl();
             break;
         }
@@ -86,12 +107,6 @@ void AcsController::performControlOperation() {
 }
 
 void AcsController::performSafe() {
-  //	Concept: SAFE MODE WITH MEKF
-  //	-do the sensor processing, maybe is does make more sense do call this class function in
-  //	another place since we have to do it for every mode regardless of safe or not
-
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -128,10 +143,10 @@ void AcsController::performSafe() {
   {
     PoolReadGuard pg(&ctrlValData);
     if (pg.getReadResult() == returnvalue::OK) {
-      double zeroQuat[4] = {0, 0, 0, 0};
-      std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
+      double unitQuat[4] = {0, 0, 0, 1};
+      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
       ctrlValData.tgtQuat.setValid(false);
-      std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
+      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
       ctrlValData.errQuat.setValid(false);
       ctrlValData.errAng.value = errAng;
       ctrlValData.errAng.setValid(true);
@@ -153,7 +168,7 @@ void AcsController::performSafe() {
   }
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
     detumbleCounter = 0;
-    // Triggers detubmle mode transition in subsystem
+    // Triggers detumble mode transition in subsystem
     triggerEvent(acs::SAFE_RATE_VIOLATION);
   }
 
@@ -174,13 +189,12 @@ void AcsController::performSafe() {
   //    PoolReadGuard pg(&dipoleSet);
   //    MutexGuard mg(torquer::lazyLock());
   //    torquer::NEW_ACTUATION_FLAG = true;
-  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
+  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2],
+  //    torqueDuration);
   //  }
 }
 
 void AcsController::performDetumble() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -240,8 +254,6 @@ void AcsController::performDetumble() {
 }
 
 void AcsController::performPointingCtrl() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -252,29 +264,146 @@ void AcsController::performPointingCtrl() {
                      &mekfData, &validMekf);
 
   double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
-  guidance.targetQuatPtg(&sensorValues, &mekfData, &susDataProcessed, now, targetQuat, refSatRate);
+  double quatRef[4] = {0, 0, 0, 0};
+  uint8_t enableAntiStiction = true;
+
   double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
          deltaRate[3] = {0, 0, 0};  // ToDo: check if pointer needed
-  guidance.comparePtg(targetQuat, &mekfData, refSatRate, quatErrorComplete, quatError, deltaRate);
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
-  double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
-  ptgCtrl.ptgGroundstation(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
-  double rwTrqNs[4] = {0, 0, 0, 0};
-  ptgCtrl.ptgNullspace(
-      &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
-      &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
-  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
-  actuatorCmd.cmdSpeedToRws(
-      &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
-      &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), torquePtgRws,
-      rwTrqNs, cmdSpeedRws);
+  double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
+  double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
   double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0};  // Desaturation Dipol
-  ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
-                          mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
-                          &(sensorValues.rw2Set.currSpeed.value),
-                          &(sensorValues.rw3Set.currSpeed.value),
-                          &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+
+  switch (submode) {
+    case acs::PTG_IDLE:
+      guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
+                          targetQuat, refSatRate);
+      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+
+      break;
+
+    case acs::PTG_TARGET:
+      guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
+                                      refSatRate);
+      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+
+    case acs::PTG_TARGET_GS:
+      guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
+                               targetQuat, refSatRate);
+      std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+
+    case acs::PTG_NADIR:
+      guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
+                                     refSatRate);
+      std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
+      enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+
+    case acs::PTG_INERTIAL:
+      guidance.inertialQuatPtg(targetQuat, refSatRate);
+      std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
+                  4 * sizeof(double));
+      enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
+      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
+                          deltaRate);
+      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate,
+                     *rwPseudoInv, torquePtgRws);
+      ptgCtrl.ptgNullspace(
+          &acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+      VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
+      actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
+      ptgCtrl.ptgDesaturation(
+          &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
+          mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
+          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+      break;
+  }
+
+  if (enableAntiStiction) {
+    bool rwAvailable[4] = {true, true, true, true};  // WHICH INPUT SENSOR SET?
+    int32_t rwSpeed[4] = {
+        (sensorValues.rw1Set.currSpeed.value), (sensorValues.rw2Set.currSpeed.value),
+        (sensorValues.rw3Set.currSpeed.value), (sensorValues.rw4Set.currSpeed.value)};
+    ptgCtrl.rwAntistiction(rwAvailable, rwSpeed, torqueRwsScaled);
+  }
+
+  double cmdSpeedRws[4] = {0, 0, 0, 0};  // Should be given to the actuator reaction wheel as input
+  actuatorCmd.cmdSpeedToRws(&(sensorValues.rw1Set.currSpeed.value),
+                            &(sensorValues.rw2Set.currSpeed.value),
+                            &(sensorValues.rw3Set.currSpeed.value),
+                            &(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
   actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
 
   int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
@@ -371,6 +500,8 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   // GPS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_POSITION, &gpsPosition);
+  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
   poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), false, 5.0});
   // MEKF
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
@@ -426,7 +557,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
       return INVALID_SUBMODE;
     }
   } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
-    if ((submode > 6) || (submode < 2)) {
+    if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_INERTIAL)) {
       return INVALID_SUBMODE;
     } else {
       return returnvalue::OK;
@@ -435,9 +566,24 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
   return INVALID_MODE;
 }
 
-void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
+void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
+  return ExtendedControllerBase::modeChanged(mode, submode);
+}
 
-void AcsController::announceMode(bool recursive) {}
+void AcsController::announceMode(bool recursive) {
+  const char *modeStr = "UNKNOWN";
+  if (mode == HasModesIF::MODE_OFF) {
+    modeStr = "OFF";
+  } else if (mode == HasModesIF::MODE_ON) {
+    modeStr = "ON";
+  } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+    modeStr = "NORMAL";
+  }
+  const char *submodeStr = acs::getModeStr(static_cast<acs::AcsMode>(submode));
+  sif::info << "ACS controller is now in " << modeStr << " mode with " << submodeStr << " submode"
+            << std::endl;
+  return ExtendedControllerBase::announceMode(recursive);
+}
 
 void AcsController::copyMgmData() {
   ACS::SensorValues sensorValues;
@@ -488,7 +634,6 @@ void AcsController::copyMgmData() {
 void AcsController::copySusData() {
   {
     PoolReadGuard pg(&sensorValues.susSets[0]);
-
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
                   6 * sizeof(uint16_t));
@@ -632,3 +777,11 @@ void AcsController::copyGyrData() {
     }
   }
 }
+
+ReturnValue_t AcsController::initialize() {
+  ReturnValue_t result = parameterHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return ExtendedControllerBase::initialize();
+}

mission/controller/AcsController.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
@@ -18,12 +20,17 @@
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
 
-class AcsController : public ExtendedControllerBase {
+class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   static constexpr dur_millis_t INIT_DELAY = 500;
 
   AcsController(object_id_t objectId);
 
+  MessageQueueId_t getCommandQueue() const;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
+
  protected:
   void performSafe();
   void performDetumble();
@@ -42,10 +49,13 @@ class AcsController : public ExtendedControllerBase {
 
   uint8_t detumbleCounter;
 
+  ParameterHelper parameterHelper;
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
 
+  ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
@@ -59,8 +69,10 @@ class AcsController : public ExtendedControllerBase {
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
-  /* ACS Datasets */
+  /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
+
+  /* ACS Datasets */
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;
@@ -134,6 +146,8 @@ class AcsController : public ExtendedControllerBase {
   acsctrl::GpsDataProcessed gpsDataProcessed;
   PoolEntry<double> gcLatitude = PoolEntry<double>();
   PoolEntry<double> gdLongitude = PoolEntry<double>();
+  PoolEntry<double> gpsPosition = PoolEntry<double>(3);
+  PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
 
   // MEKF
   acsctrl::MekfData mekfData;

mission/controller/ThermalController.cpp

@@ -2,6 +2,7 @@
 
 #include <bsp_q7s/core/CoreDefinitions.h>
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/thermal/ThermalComponentIF.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h>
 #include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
@@ -14,11 +15,13 @@
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <objects/systemObjectList.h>
 
-ThermalController::ThermalController(object_id_t objectId)
+ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater)
     : ExtendedControllerBase(objectId),
+      heaterHandler(heater),
       sensorTemperatures(this),
       susTemperatures(this),
       deviceTemperatures(this),
+      imtqThermalSet(objects::IMTQ_HANDLER, ThermalStateCfg()),
       max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER,
                    EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
       max31865Set1(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
@@ -55,7 +58,9 @@ ThermalController::ThermalController(object_id_t objectId)
       susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
       susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
       susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
-      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {}
+      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {
+  resetSensorsArray();
+}
 
 ReturnValue_t ThermalController::initialize() {
   auto result = ExtendedControllerBase::initialize();
@@ -103,6 +108,8 @@ void ThermalController::performControlOperation() {
     copyDevices();
     deviceTemperatures.commit();
   }
+
+  // performThermalModuleCtrl();
 }
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -952,3 +959,477 @@ void ThermalController::copyDevices() {
     }
   }
 }
+
+void ThermalController::ctrlAcsBoard() {
+  // TODO: check
+  heater::Switchers switchNr = heater::HEATER_2_ACS_BRD;
+  heater::Switchers redSwitchNr = heater::HEATER_0_OBC_BRD;
+
+  // A side
+  sensors[0].first = deviceTemperatures.gyro0SideA.isValid();
+  sensors[0].second = deviceTemperatures.gyro0SideA.value;
+  sensors[1].first = deviceTemperatures.mgm0SideA.isValid();
+  sensors[1].second = deviceTemperatures.mgm0SideA.value;
+  sensors[2].first = deviceTemperatures.gyro1SideA.isValid();
+  sensors[2].second = deviceTemperatures.gyro1SideA.value;
+  sensors[3].first = sensorTemperatures.sensor_tcs_board.isValid();
+  sensors[3].second = sensorTemperatures.sensor_tcs_board.value;
+  numSensors = 4;
+  if (selectAndReadSensorTemp()) {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
+    }
+    resetSensorsArray();
+    return;
+  }
+
+  // B side
+  sensors[0].first = deviceTemperatures.gyro2SideB.isValid();
+  sensors[0].second = deviceTemperatures.gyro2SideB.value;
+  sensors[1].first = deviceTemperatures.mgm2SideB.isValid();
+  sensors[1].second = deviceTemperatures.mgm2SideB.value;
+  sensors[2].first = deviceTemperatures.gyro3SideB.isValid();
+  sensors[2].second = deviceTemperatures.gyro3SideB.value;
+  sensors[3].first = sensorTemperatures.sensor_tcs_board.isValid();
+  sensors[3].second = sensorTemperatures.sensor_tcs_board.value;
+  if (selectAndReadSensorTemp()) {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      ctrlHeater(switchNr, redSwitchNr, acsBoardLimits);
+    }
+  } else {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      if (heaterHandler.checkSwitchState(switchNr)) {
+        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+      }
+    }
+  }
+  resetSensorsArray();
+}
+
+void ThermalController::ctrlMgt() {
+  PoolReadGuard pg(&imtqThermalSet);
+  auto heaterReq =
+      static_cast<ThermalComponentIF::StateRequest>(imtqThermalSet.heaterRequest.value);
+
+  if (heaterReq == ThermalComponentIF::STATE_REQUEST_OPERATIONAL) {
+    sensors[0].first = sensorTemperatures.sensor_magnettorquer.isValid();
+    sensors[0].second = sensorTemperatures.sensor_magnettorquer.value;
+    sensors[1].first = deviceTemperatures.mgt.isValid();
+    sensors[1].second = deviceTemperatures.mgt.value;
+    sensors[2].first = sensorTemperatures.sensor_plpcdu_heatspreader.isValid();
+    sensors[2].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
+    numSensors = 3;
+    ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, mgtLimits);
+  }
+}
+
+void ThermalController::ctrlRw() {
+  // TODO: better solution?
+  // RW1
+  sensors[0].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[0].second = sensorTemperatures.sensor_rw1.value;
+  sensors[1].first = deviceTemperatures.rw1.isValid();
+  sensors[1].second = deviceTemperatures.rw1.value;
+  sensors[2].first = deviceTemperatures.rw4.isValid();
+  sensors[2].second = deviceTemperatures.rw4.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+
+  // RW2
+  sensors[0].first = deviceTemperatures.rw2.isValid();
+  sensors[0].second = deviceTemperatures.rw2.value;
+  sensors[1].first = deviceTemperatures.rw3.isValid();
+  sensors[1].second = deviceTemperatures.rw3.value;
+  sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[2].second = sensorTemperatures.sensor_rw1.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+
+  // RW3
+  sensors[0].first = deviceTemperatures.rw3.isValid();
+  sensors[0].second = deviceTemperatures.rw3.value;
+  sensors[1].first = deviceTemperatures.rw4.isValid();
+  sensors[1].second = deviceTemperatures.rw4.value;
+  sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[2].second = sensorTemperatures.sensor_rw1.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+
+  // RW4
+  sensors[0].first = deviceTemperatures.rw4.isValid();
+  sensors[0].second = deviceTemperatures.rw4.value;
+  sensors[1].first = deviceTemperatures.rw1.isValid();
+  sensors[1].second = deviceTemperatures.rw1.value;
+  sensors[2].first = sensorTemperatures.sensor_rw1.isValid();
+  sensors[2].second = sensorTemperatures.sensor_rw1.value;
+  sensors[3].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[3].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_6_DRO, rwLimits);
+}
+
+void ThermalController::ctrlStr() {
+  sensors[0].first = sensorTemperatures.sensor_startracker.isValid();
+  sensors[0].second = sensorTemperatures.sensor_startracker.value;
+  sensors[1].first = deviceTemperatures.startracker.isValid();
+  sensors[1].second = deviceTemperatures.startracker.value;
+  sensors[2].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[2].second = sensorTemperatures.sensor_dro.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_5_STR, heater::HEATER_6_DRO, strLimits);
+}
+
+void ThermalController::ctrlIfBoard() {
+  sensors[0].first = sensorTemperatures.tmp1075IfBrd.isValid();
+  sensors[0].second = sensorTemperatures.tmp1075IfBrd.value;
+  sensors[1].first = sensorTemperatures.sensor_magnettorquer.isValid();
+  sensors[1].second = sensorTemperatures.sensor_magnettorquer.value;
+  sensors[2].first = deviceTemperatures.mgm2SideB.isValid();
+  sensors[2].second = deviceTemperatures.mgm2SideB.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_2_ACS_BRD, heater::HEATER_3_PCDU_PDU, ifBoardLimits);
+}
+
+void ThermalController::ctrlTcsBoard() {
+  sensors[0].first = sensorTemperatures.sensor_tcs_board.isValid();
+  sensors[0].second = sensorTemperatures.sensor_tcs_board.value;
+  sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, tcsBoardLimits);
+}
+
+void ThermalController::ctrlObc() {
+  sensors[0].first = deviceTemperatures.q7s.isValid();
+  sensors[0].second = deviceTemperatures.q7s.value;
+  sensors[1].first = sensorTemperatures.tmp1075Tcs1.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075Tcs1.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(OBC_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlObcIfBoard() {
+  sensors[0].first = deviceTemperatures.q7s.isValid();
+  sensors[0].second = deviceTemperatures.q7s.value;
+  sensors[1].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075Tcs0.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs1.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs1.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_0_OBC_BRD, heater::HEATER_2_ACS_BRD, obcIfBoardLimits);
+}
+
+void ThermalController::ctrlSBandTransceiver() {
+  sensors[0].first = deviceTemperatures.syrlinksPowerAmplifier.isValid();
+  sensors[0].second = deviceTemperatures.syrlinksPowerAmplifier.value;
+  sensors[1].first = deviceTemperatures.syrlinksBasebandBoard.isValid();
+  sensors[1].second = deviceTemperatures.syrlinksBasebandBoard.value;
+  sensors[2].first = sensorTemperatures.sensor_4k_camera.isValid();
+  sensors[2].second = sensorTemperatures.sensor_4k_camera.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_7_S_BAND, heater::HEATER_4_CAMERA,
+                           sBandTransceiverLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(SYRLINKS_OVERHEATING);
+  }
+}
+void ThermalController::ctrlPcduP60Board() {
+  sensors[0].first = deviceTemperatures.temp1P60dock.isValid();
+  sensors[0].second = deviceTemperatures.temp1P60dock.value;
+  sensors[1].first = deviceTemperatures.temp2P60dock.isValid();
+  sensors[1].second = deviceTemperatures.temp2P60dock.value;
+  numSensors = 2;
+  ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduP60BoardLimits);
+}
+
+void ThermalController::ctrlPcduAcu() {
+  heater::Switchers switchNr = heater::HEATER_3_PCDU_PDU;
+  heater::Switchers redSwitchNr = heater::HEATER_2_ACS_BRD;
+
+  if (chooseHeater(switchNr, redSwitchNr)) {
+    bool sensorTempAvailable = true;
+
+    if (deviceTemperatures.acu.value[0] != INVALID_TEMPERATURE) {
+      sensorTemp = deviceTemperatures.acu.value[0];
+    } else if (deviceTemperatures.acu.value[1] != INVALID_TEMPERATURE) {
+      sensorTemp = deviceTemperatures.acu.value[1];
+    } else if (deviceTemperatures.acu.value[2] != INVALID_TEMPERATURE) {
+      sensorTemp = deviceTemperatures.acu.value[2];
+    } else if (sensorTemperatures.sensor_acu.isValid()) {
+      sensorTemp = sensorTemperatures.sensor_acu.value;
+    } else {
+      triggerEvent(NO_VALID_SENSOR_TEMPERATURE, switchNr);
+      sensorTempAvailable = false;
+    }
+    if (sensorTempAvailable) {
+      ctrlHeater(switchNr, redSwitchNr, pcduAcuLimits);
+    }
+  }
+}
+
+void ThermalController::ctrlPcduPdu() {
+  sensors[0].first = deviceTemperatures.pdu1.isValid();
+  sensors[0].second = deviceTemperatures.pdu1.value;
+  sensors[1].first = deviceTemperatures.pdu2.isValid();
+  sensors[1].second = deviceTemperatures.pdu2.value;
+  sensors[2].first = sensorTemperatures.tmp1075Tcs0.isValid();
+  sensors[2].second = sensorTemperatures.tmp1075Tcs0.value;
+  numSensors = 2;
+  ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, pcduPduLimits);
+}
+
+void ThermalController::ctrlPlPcduBoard() {
+  sensors[0].first = sensorTemperatures.tmp1075PlPcdu0.isValid();
+  sensors[0].second = sensorTemperatures.tmp1075PlPcdu0.value;
+  sensors[1].first = sensorTemperatures.tmp1075PlPcdu1.isValid();
+  sensors[1].second = sensorTemperatures.tmp1075PlPcdu1.value;
+  sensors[2].first = deviceTemperatures.adcPayloadPcdu.isValid();
+  sensors[2].second = deviceTemperatures.adcPayloadPcdu.value;
+  sensors[3].first = sensorTemperatures.sensor_plpcdu_heatspreader.isValid();
+  sensors[3].second = sensorTemperatures.sensor_plpcdu_heatspreader.value;
+  numSensors = 4;
+  ctrlComponentTemperature(heater::HEATER_3_PCDU_PDU, heater::HEATER_2_ACS_BRD, plPcduBoardLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(PLPCDU_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlPlocMissionBoard() {
+  sensors[0].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
+  sensors[0].second = sensorTemperatures.sensor_ploc_heatspreader.value;
+  sensors[1].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
+  sensors[1].second = sensorTemperatures.sensor_ploc_missionboard.value;
+  sensors[2].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
+  sensors[2].second = sensorTemperatures.sensor_dac_heatspreader.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
+                           plocMissionBoardLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(PLOC_OVERHEATING);
+  }
+}
+
+void ThermalController::ctrlPlocProcessingBoard() {
+  sensors[0].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
+  sensors[0].second = sensorTemperatures.sensor_ploc_missionboard.value;
+  sensors[1].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
+  sensors[1].second = sensorTemperatures.sensor_ploc_heatspreader.value;
+  sensors[2].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
+  sensors[2].second = sensorTemperatures.sensor_dac_heatspreader.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD,
+                           plocProcessingBoardLimits);
+}
+
+void ThermalController::ctrlDac() {
+  sensors[0].first = sensorTemperatures.sensor_dac_heatspreader.isValid();
+  sensors[0].second = sensorTemperatures.sensor_dac_heatspreader.value;
+  sensors[1].first = sensorTemperatures.sensor_ploc_missionboard.isValid();
+  sensors[1].second = sensorTemperatures.sensor_ploc_missionboard.value;
+  sensors[2].first = sensorTemperatures.sensor_ploc_heatspreader.isValid();
+  sensors[2].second = sensorTemperatures.sensor_ploc_heatspreader.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_1_PLOC_PROC_BRD, heater::HEATER_0_OBC_BRD, dacLimits);
+}
+
+void ThermalController::ctrlCameraBody() {
+  sensors[0].first = sensorTemperatures.sensor_4k_camera.isValid();
+  sensors[0].second = sensorTemperatures.sensor_4k_camera.value;
+  sensors[1].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[1].second = sensorTemperatures.sensor_dro.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_4_CAMERA, heater::HEATER_6_DRO, cameraLimits);
+}
+
+void ThermalController::ctrlDro() {
+  sensors[0].first = sensorTemperatures.sensor_dro.isValid();
+  sensors[0].second = sensorTemperatures.sensor_dro.value;
+  sensors[1].first = sensorTemperatures.sensor_4k_camera.isValid();
+  sensors[1].second = sensorTemperatures.sensor_4k_camera.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, droLimits);
+}
+
+void ThermalController::ctrlX8() {
+  sensors[0].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[0].second = sensorTemperatures.sensor_x8.value;
+  sensors[1].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[1].second = sensorTemperatures.sensor_hpa.value;
+  sensors[2].first = sensorTemperatures.sensor_tx_modul.isValid();
+  sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, x8Limits);
+}
+
+void ThermalController::ctrlTx() {
+  sensors[0].first = sensorTemperatures.sensor_tx_modul.isValid();
+  sensors[0].second = sensorTemperatures.sensor_tx_modul.value;
+  sensors[1].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[1].second = sensorTemperatures.sensor_x8.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, txLimits);
+}
+
+void ThermalController::ctrlMpa() {
+  sensors[0].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[0].second = sensorTemperatures.sensor_mpa.value;
+  sensors[1].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[1].second = sensorTemperatures.sensor_hpa.value;
+  sensors[2].first = sensorTemperatures.sensor_tx_modul.isValid();
+  sensors[2].second = sensorTemperatures.sensor_tx_modul.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, mpaLimits);
+}
+
+void ThermalController::ctrlHpa() {
+  sensors[0].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[0].second = sensorTemperatures.sensor_hpa.value;
+  sensors[1].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[1].second = sensorTemperatures.sensor_x8.value;
+  sensors[2].first = sensorTemperatures.sensor_mpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_mpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_4_CAMERA, hpaLimits);
+  if (componentAboveCutOffLimit) {
+    triggerEvent(HPA_OVERHEATING);
+  }
+}
+
+void ThermalController::performThermalModuleCtrl() {
+  ctrlCameraBody();
+  ctrlAcsBoard();
+  ctrlMgt();
+  ctrlRw();
+  ctrlStr();
+  ctrlIfBoard();
+  ctrlAcsBoard();
+  ctrlObc();
+  ctrlObcIfBoard();
+  ctrlSBandTransceiver();
+  ctrlPcduP60Board();
+  ctrlPcduAcu();
+  ctrlPcduPdu();
+  ctrlPlPcduBoard();
+  ctrlPlocMissionBoard();
+  ctrlPlocProcessingBoard();
+  ctrlDac();
+
+  ctrlDro();
+  ctrlX8();
+  ctrlHpa();
+  ctrlTx();
+  ctrlMpa();
+  ctrlScexBoard();
+}
+
+void ThermalController::ctrlScexBoard() {
+  sensors[0].first = sensorTemperatures.sensor_scex.isValid();
+  sensors[0].second = sensorTemperatures.sensor_scex.value;
+  sensors[1].first = sensorTemperatures.sensor_x8.isValid();
+  sensors[1].second = sensorTemperatures.sensor_x8.value;
+  sensors[2].first = sensorTemperatures.sensor_hpa.isValid();
+  sensors[2].second = sensorTemperatures.sensor_hpa.value;
+  numSensors = 3;
+  ctrlComponentTemperature(heater::HEATER_6_DRO, heater::HEATER_5_STR, scexBoardLimits);
+}
+
+void ThermalController::ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+                                   struct TempLimits& tempLimit) {
+  componentAboveCutOffLimit = false;
+  // Heater off
+  if (not heaterHandler.checkSwitchState(switchNr)) {
+    if (sensorTemp < tempLimit.opLowerLimit) {
+      heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::ON);
+      sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " ON" << std::endl;
+    }
+    // Heater on
+  } else if (heaterHandler.checkSwitchState(switchNr)) {
+    if (sensorTemp >= tempLimit.opLowerLimit + TEMP_OFFSET) {
+      heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+      sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+    }
+  } else if (not redSwitchNrInUse) {
+    if (heaterHandler.checkSwitchState(redSwitchNr)) {
+      if (sensorTemp >= tempLimit.cutOffLimit) {
+        componentAboveCutOffLimit = true;
+        heaterHandler.switchHeater(redSwitchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "ThermalController::ctrlHeater: Heater" << redSwitchNr << " OFF" << std::endl;
+      }
+    }
+  }
+}
+
+bool ThermalController::chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr) {
+  bool heaterAvailable = true;
+
+  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
+    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+      switchNr = redSwitchNr;
+      redSwitchNrInUse = true;
+    } else {
+      heaterAvailable = false;
+      triggerEvent(NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+    }
+  } else {
+    redSwitchNrInUse = false;
+  }
+  return heaterAvailable;
+}
+
+bool ThermalController::selectAndReadSensorTemp() {
+  for (unsigned i = 0; i < numSensors; i++) {
+    if (sensors[i].first and sensors[i].second != INVALID_TEMPERATURE) {
+      sensorTemp = sensors[i].second;
+      return true;
+    }
+  }
+  triggerEvent(NO_VALID_SENSOR_TEMPERATURE);
+  return false;
+}
+
+void ThermalController::ctrlComponentTemperature(heater::Switchers switchNr,
+                                                 heater::Switchers redSwitchNr,
+                                                 TempLimits& tempLimit) {
+  if (selectAndReadSensorTemp()) {
+    if (chooseHeater(switchNr, redSwitchNr)) {
+      ctrlHeater(switchNr, redSwitchNr, tempLimit);
+    }
+  } else {
+    if (chooseHeater(switchNr,
+                     redSwitchNr)) {  // TODO: muss der Heater dann wirklich abgeschalten werden?
+      if (heaterHandler.checkSwitchState(switchNr)) {
+        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+        sif::info << "ThermalController::ctrlHeater: Heater" << switchNr << " OFF" << std::endl;
+      }
+    }
+  }
+  resetSensorsArray();
+}
+
+void ThermalController::resetSensorsArray() {
+  // TODO: müssen auch andere Variablen resettet werden? senstemp?
+  for (auto& validValuePair : sensors) {
+    validValuePair.first = false;
+    validValuePair.second = INVALID_TEMPERATURE;
+  }
+}

mission/controller/ThermalController.h

@@ -2,59 +2,102 @@
 #define MISSION_CONTROLLER_THERMALCONTROLLER_H_
 
 #include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/devicehandlers/DeviceHandlerThermalSet.h>
 #include <fsfw/timemanager/Countdown.h>
 #include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
 #include <mission/devices/devicedefinitions/SusDefinitions.h>
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
 
+#include <list>
+
+#include "../devices/HeaterHandler.h"
+
+/**
+ * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
+ * is exceeded.
+ * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
+ * limit is exceeded to avoid reaching NOP limit
+ */
+struct TempLimits {
+  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit)
+      : opLowerLimit(opLowerLimit),
+        opUpperLimit(opUpperLimit),
+        cutOffLimit(cutOffLimit),
+        nopLowerLimit(nopLowerLimit),
+        nopUpperLimit(nopUpperLimit) {}
+  float opLowerLimit;
+  float opUpperLimit;
+  float cutOffLimit;
+  float nopLowerLimit;
+  float nopUpperLimit;
+};
+
 class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
+  static const uint8_t NUMBER_OF_SENSORS = 16;
 
-  ThermalController(object_id_t objectId);
+  ThermalController(object_id_t objectId, HeaterHandler& heater);
 
   ReturnValue_t initialize() override;
 
  protected:
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
-  virtual void performControlOperation() override;
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  void performThermalModuleCtrl();
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  void performControlOperation() override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
   // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
 
  private:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_CONTROLLER;
+  static constexpr Event NO_VALID_SENSOR_TEMPERATURE = MAKE_EVENT(0, severity::MEDIUM);
+  static constexpr Event NO_HEALTHY_HEATER_AVAILABLE = MAKE_EVENT(1, severity::MEDIUM);
+  static constexpr Event SYRLINKS_OVERHEATING = MAKE_EVENT(2, severity::HIGH);
+  static constexpr Event PLOC_OVERHEATING = MAKE_EVENT(3, severity::HIGH);
+  static constexpr Event OBC_OVERHEATING = MAKE_EVENT(4, severity::HIGH);
+  static constexpr Event HPA_OVERHEATING = MAKE_EVENT(5, severity::HIGH);
+  static constexpr Event PLPCDU_OVERHEATING = MAKE_EVENT(6, severity::HIGH);
+
   static const uint32_t DELAY = 500;
 
+  static const uint32_t TEMP_OFFSET = 5;
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;
 
+  HeaterHandler& heaterHandler;
+
   thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
   thermalControllerDefinitions::SusTemperatures susTemperatures;
   thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;
 
+  DeviceHandlerThermalSet imtqThermalSet;
+
   // Temperature Sensors
-  MAX31865::Max31865Set max31865Set0;
-  MAX31865::Max31865Set max31865Set1;
-  MAX31865::Max31865Set max31865Set2;
-  MAX31865::Max31865Set max31865Set3;
-  MAX31865::Max31865Set max31865Set4;
-  MAX31865::Max31865Set max31865Set5;
-  MAX31865::Max31865Set max31865Set6;
-  MAX31865::Max31865Set max31865Set7;
-  MAX31865::Max31865Set max31865Set8;
-  MAX31865::Max31865Set max31865Set9;
-  MAX31865::Max31865Set max31865Set10;
-  MAX31865::Max31865Set max31865Set11;
-  MAX31865::Max31865Set max31865Set12;
-  MAX31865::Max31865Set max31865Set13;
-  MAX31865::Max31865Set max31865Set14;
-  MAX31865::Max31865Set max31865Set15;
+  MAX31865::PrimarySet max31865Set0;
+  MAX31865::PrimarySet max31865Set1;
+  MAX31865::PrimarySet max31865Set2;
+  MAX31865::PrimarySet max31865Set3;
+  MAX31865::PrimarySet max31865Set4;
+  MAX31865::PrimarySet max31865Set5;
+  MAX31865::PrimarySet max31865Set6;
+  MAX31865::PrimarySet max31865Set7;
+  MAX31865::PrimarySet max31865Set8;
+  MAX31865::PrimarySet max31865Set9;
+  MAX31865::PrimarySet max31865Set10;
+  MAX31865::PrimarySet max31865Set11;
+  MAX31865::PrimarySet max31865Set12;
+  MAX31865::PrimarySet max31865Set13;
+  MAX31865::PrimarySet max31865Set14;
+  MAX31865::PrimarySet max31865Set15;
 
   TMP1075::Tmp1075Dataset tmp1075SetTcs0;
   TMP1075::Tmp1075Dataset tmp1075SetTcs1;
@@ -77,9 +120,41 @@ class ThermalController : public ExtendedControllerBase {
   SUS::SusDataset susSet10;
   SUS::SusDataset susSet11;
 
+  // TempLimits
+  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
+  TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);
+  TempLimits ifBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 150.0);
+  TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 130.0);
+  TempLimits obcLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits obcIfBoardLimits = TempLimits(-65.0, -40.0, 80.0, 85.0, 125.0);
+  TempLimits sBandTransceiverLimits = TempLimits(-40.0, -25.0, 35.0, 40.0, 65.0);
+  TempLimits pcduP60BoardLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  TempLimits pcduAcuLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  TempLimits pcduPduLimits = TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
+  TempLimits plPcduBoardLimits = TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
+  TempLimits plocMissionBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
+  TempLimits plocProcessingBoardLimits = TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
+  TempLimits dacLimits = TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
+  TempLimits cameraLimits = TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
+  TempLimits droLimits = TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
+  TempLimits x8Limits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits hpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits txLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits mpaLimits = TempLimits(-40.0, -30.0, -75.0, 80.0, 90.0);
+  TempLimits scexBoardLimits = TempLimits(-60.0, -40.0, 80.0, 85.0, 150.0);
+
+  double sensorTemp = INVALID_TEMPERATURE;
+  bool redSwitchNrInUse = false;
+  bool componentAboveCutOffLimit = false;
+
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
+  std::array<std::pair<bool, double>, 5> sensors;
+  uint8_t numSensors = 0;
+
   PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>(10.0);
   PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>(10.0);
   PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>(10.0);
@@ -87,9 +162,41 @@ class ThermalController : public ExtendedControllerBase {
   PoolEntry<float> tmp1075IfBrd = PoolEntry<float>(10.0);
 
   static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
+
+  void resetSensorsArray();
   void copySensors();
   void copySus();
   void copyDevices();
+
+  void ctrlComponentTemperature(heater::Switchers switchNr, heater::Switchers redSwitchNr,
+                                TempLimits& tempLimit);
+  void ctrlHeater(heater::Switchers switchNr, heater::Switchers redSwitchNr, TempLimits& tempLimit);
+  bool chooseHeater(heater::Switchers& switchNr, heater::Switchers redSwitchNr);
+  bool selectAndReadSensorTemp();
+
+  void ctrlAcsBoard();
+  void ctrlMgt();
+  void ctrlRw();
+  void ctrlStr();
+  void ctrlIfBoard();
+  void ctrlTcsBoard();
+  void ctrlObc();
+  void ctrlObcIfBoard();
+  void ctrlSBandTransceiver();
+  void ctrlPcduP60Board();
+  void ctrlPcduAcu();
+  void ctrlPcduPdu();
+  void ctrlPlPcduBoard();
+  void ctrlPlocMissionBoard();
+  void ctrlPlocProcessingBoard();
+  void ctrlDac();
+  void ctrlCameraBody();
+  void ctrlDro();
+  void ctrlX8();
+  void ctrlHpa();
+  void ctrlTx();
+  void ctrlMpa();
+  void ctrlScexBoard();
 };
 
 #endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/controller/acs/AcsParameters.h

@@ -12,22 +12,36 @@
 
 typedef unsigned char uint8_t;
 
-class AcsParameters /*: public HasParametersIF*/ {
+class AcsParameters : public HasParametersIF {
  public:
   AcsParameters();
   virtual ~AcsParameters();
-  /*
-          virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-                                  ParameterWrapper *parameterWrapper,
-                                  const ParameterWrapper *newValues, uint16_t startAtIndex);
-  */
+
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override;
+
   struct OnBoardParams {
-    double sampleTime = 0.1;  // [s]
+    double sampleTime = 0.4;  // [s]
   } onBoardParams;
 
   struct InertiaEIVE {
-    double inertiaMatrix[3][3] = {{1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.5, 1.0}};
-    double inertiaMatrixInverse[3][3];
+    double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
+                                  {-0.0001821456, 0.1701302, 0.0004748963},
+                                  {-0.0050135, 0.0004748963, 0.08374296}};  // 19.11.2021
+    // Possible inertia matrices
+    double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
+                                          {-0.0001821456, 0.1701302, 0.0004748963},
+                                          {-0.0050135, 0.0004748963, 0.08374296}};  // 19.11.2021
+    double inertiaMatrixUndeployed[3][3] = {{0.122485, -0.0001798426, -0.005008},
+                                            {-0.0001798426, 0.162240, 0.000475596},
+                                            {-0.005008, 0.000475596, 0.060136}};  // 19.11.2021
+    double inertiaMatrixPanel1[3][3] = {{0.13823347, -0.0001836122, -0.00501207},
+                                        {-0.0001836122, 0.16619787, 0.0083537},
+                                        {-0.00501207, 0.0083537, 0.07192588}};  // 19.11.2021
+    double inertiaMatrixPanel3[3][3] = {{0.13823487, -0.000178376, -0.005009767},
+                                        {-0.000178376, 0.166172, -0.007403},
+                                        {-0.005009767, -0.007403, 0.07195314}};
   } inertiaEIVE;
 
   struct MgmHandlingParameters {
@@ -37,40 +51,41 @@ class AcsParameters /*: public HasParametersIF*/ {
     float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
     float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
 
-    float mgm0hardIronOffset[3] = {0.0, 0.0, 0.0};  //{19.89364, -29.94111, -31.07508};
-    float mgm1hardIronOffset[3] = {0.0, 0.0, 0.0};  //{10.95500, -8.053403, -33.36383};
-    float mgm2hardIronOffset[3] = {0.0, 0.0, 0.0};  //{15.72181, -26.87090, -62.19010};
-    float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
-    float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};
+    float mgm0hardIronOffset[3] = {6.116487, 6.796264, -19.188060};
+    float mgm1hardIronOffset[3] = {-1.077152, 2.080583, 1.974483};
+    float mgm2hardIronOffset[3] = {-19.285857, 5.401821, -16.096297};
+    float mgm3hardIronOffset[3] = {-0.634033, 2.787695, 0.092036};
+    float mgm4hardIronOffset[3] = {2.702743, 5.236043, 0.726229};
+
+    float mgm0softIronInverse[3][3] = {{0.910192, -0.188413, -0.161522},
+                                       {-0.188413, 1.642303, -0.033184},
+                                       {-0.161522, -0.033184, 0.943904}};
+    float mgm1softIronInverse[3][3] = {{1.053508, -0.170225, -0.041678},
+                                       {-0.170225, 1.274465, -0.040231},
+                                       {-0.041678, -0.040231, 1.086352}};
+    float mgm2softIronInverse[3][3] = {{0.931086, 0.172675, -0.043084},
+                                       {0.172675, 1.541296, 0.065489},
+                                       {-0.043084, 0.065489, 1.001238}};
+    float mgm3softIronInverse[3][3] = {{1.073353, 0.177266, -0.058832},
+                                       {0.177266, 1.262156, 0.010478},
+                                       {-0.058832, 0.010478, 1.068345}};
+    float mgm4softIronInverse[3][3] = {{1.114887, -0.007534, -0.037072},
+                                       {-0.007534, 1.253879, 0.006812},
+                                       {-0.037072, 0.006812, 1.313158}};
 
-    float mgm0softIronInverse[3][3] = {
-        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
-         -127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
-         {-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
-    float mgm1softIronInverse[3][3] = {
-        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
-         {-4.146410e-2, 109.3310e-2, -5.246314e-2},
-         {-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
-    float mgm2softIronInverse[3][3] = {
-        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
-         15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
-         {15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
-    float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-    float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
     float mgm02variance[3] = {1, 1, 1};
     float mgm13variance[3] = {1, 1, 1};
     float mgm4variance[3] = {1, 1, 1};
-
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
-    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
+    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
     float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM06
     float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM13
     float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM14
     float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};    // FM05
     float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};   // FM02
-    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
+    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
     float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM01
     float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM03
     float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM11
@@ -78,61 +93,61 @@ class AcsParameters /*: public HasParametersIF*/ {
     float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};  // FM08
 
     float sus0coeffAlpha[9][10] = {
-        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-         -0.000124096561459262, 0.00040790566176981},
-        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
-         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
-         1.63114413539632e-05, -2.0187452317724e-05},
-        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
-         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-         -0.000249094601806692, 0.000231466668650876},
-        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-         -9.78534772816957e-06, -4.72083745991256e-05},
-        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
-         0.00010150571088124, -0.000367705461590854},
-        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
-         6.97244631313601e-05, 2.50519145070895e-05},
-        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-         -1.78466217018177e-05, -0.00058976234038192},
-        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-         -2.73407888222758e-05, 5.45131881032866e-06},
-        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
-         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-         -0.000889196131314391, -0.000509766491897672}};
+        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
+         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
+         0.00091428505258307, 0.000259857066722932},
+        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
+         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
+         -1.06065583714065e-05, -1.43899892666699e-05},
+        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
+         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
+         -4.88501228194031e-06, -0.000434861113274231},
+        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
+         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
+         6.09619017310129e-05, 4.23908862836885e-05},
+        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
+         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
+         0.000150795563555828, -0.000279246491927943},
+        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
+         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
+         9.13233708460098e-05, -0.000206717750924323},
+        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
+         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
+         -0.000532190902882765, 9.36018171121253e-05},
+        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
+         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
+         1.02609175615251e-05, -9.64717658954667e-06},
+        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
+         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
+         0.000868163357631254, 0.00120099606910313}};
     float sus0coeffBeta[9][10] = {
-        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-         -5.52178824394723e-06, 5.73935295303589e-05},
-        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
-         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-         -7.58501977656551e-05, -8.79809730730992e-05},
-        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
-         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-         -0.00020861690864945},
-        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-         -6.00508568552101e-05, 0.000101583822589461},
-        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
-         0.000316835483508523, 0.000151442890664899},
-        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
-         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-         -9.83662017231755e-05, 1.87078667116619e-05},
-        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-         -0.000285438191474895, -5.71327627917386e-05},
-        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-         -9.77555098179959e-05, 2.09624089449761e-05},
-        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
-         0.000141998709314758, 0.000101051304611037}};
+        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
+         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
+         0.000821479971871302, -4.5330528329465e-05},
+        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
+         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
+         -4.04514487800062e-05, -7.6296149087237e-05},
+        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
+         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
+         0.0011723869613426, 0.000122882034141316},
+        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
+         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
+         -5.87601932564404e-05, -3.92033314627704e-05},
+        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
+         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
+         0.000259925974231328, 0.000222437797823852},
+        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
+         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
+         -4.33518182614169e-05, 4.66993119419691e-05},
+        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
+         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
+         0.000401546410974577, -0.000147563886502726},
+        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
+         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
+         -5.3309466243918e-05, 6.20289310356821e-06},
+        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
+         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
+         -0.000186887396585446, 0.00119710704771344}};
     float sus1coeffAlpha[9][10] = {
         {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
          -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
@@ -414,61 +429,61 @@ class AcsParameters /*: public HasParametersIF*/ {
          -0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
          -0.000169538153750085, -0.000336529204350355}};
     float sus6coeffAlpha[9][10] = {
-        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
-         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
-         0.00091428505258307, 0.000259857066722932},
-        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
-         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-         -1.06065583714065e-05, -1.43899892666699e-05},
-        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
-         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-         -4.88501228194031e-06, -0.000434861113274231},
-        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
-         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
-         6.09619017310129e-05, 4.23908862836885e-05},
-        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
-         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
-         0.000150795563555828, -0.000279246491927943},
-        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
-         9.13233708460098e-05, -0.000206717750924323},
-        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-         -0.000532190902882765, 9.36018171121253e-05},
-        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
-         1.02609175615251e-05, -9.64717658954667e-06},
-        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
-         0.000868163357631254, 0.00120099606910313}};
+        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
+         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
+         -0.000124096561459262, 0.00040790566176981},
+        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
+         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
+         1.63114413539632e-05, -2.0187452317724e-05},
+        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
+         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
+         -0.000249094601806692, 0.000231466668650876},
+        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
+         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
+         -9.78534772816957e-06, -4.72083745991256e-05},
+        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
+         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
+         0.00010150571088124, -0.000367705461590854},
+        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
+         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
+         6.97244631313601e-05, 2.50519145070895e-05},
+        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
+         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
+         -1.78466217018177e-05, -0.00058976234038192},
+        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
+         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
+         -2.73407888222758e-05, 5.45131881032866e-06},
+        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
+         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
+         -0.000889196131314391, -0.000509766491897672}};
     float sus6coeffBeta[9][10] = {
-        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
-         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
-         0.000821479971871302, -4.5330528329465e-05},
-        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
-         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-         -4.04514487800062e-05, -7.6296149087237e-05},
-        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
-         0.0011723869613426, 0.000122882034141316},
-        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-         -5.87601932564404e-05, -3.92033314627704e-05},
-        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
-         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
-         0.000259925974231328, 0.000222437797823852},
-        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
-         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-         -4.33518182614169e-05, 4.66993119419691e-05},
-        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
-         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
-         0.000401546410974577, -0.000147563886502726},
-        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
-         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-         -5.3309466243918e-05, 6.20289310356821e-06},
-        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
-         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-         -0.000186887396585446, 0.00119710704771344}};
+        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
+         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
+         -5.52178824394723e-06, 5.73935295303589e-05},
+        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
+         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
+         -7.58501977656551e-05, -8.79809730730992e-05},
+        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
+         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
+         -0.00020861690864945},
+        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
+         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
+         -6.00508568552101e-05, 0.000101583822589461},
+        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
+         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
+         0.000316835483508523, 0.000151442890664899},
+        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
+         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
+         -9.83662017231755e-05, 1.87078667116619e-05},
+        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
+         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
+         -0.000285438191474895, -5.71327627917386e-05},
+        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
+         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
+         -9.77555098179959e-05, 2.09624089449761e-05},
+        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
+         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
+         0.000141998709314758, 0.000101051304611037}};
     float sus7coeffAlpha[9][10] = {
         {-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
          -0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,
@@ -749,9 +764,6 @@ class AcsParameters /*: public HasParametersIF*/ {
         {116.975421945286, -5.53022680362263, -5.61081660666997, 0.109754904982136,
          0.167666815691513, 0.163137400730063, -0.000609874123906977, -0.00205336098697513,
          -0.000889232196185857, -0.00168429567131815}};
-
-    float filterAlpha;
-    float sunThresh;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -759,110 +771,119 @@ class AcsParameters /*: public HasParametersIF*/ {
     double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
     double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
     double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
-    // var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
-    // assumed to be equal for the same class of sensors
+
+    double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
+    double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
+    double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
+    double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
+
+    /* var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
+     * assumed to be equal for the same class of sensors */
     float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(3.0e-3 * sqrt(2), 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(4.3e-3 * sqrt(2), 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
     float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
-    enum PreferAdis { NO = 0, YES = 1 };
-    uint8_t preferAdis = PreferAdis::YES;
+    uint8_t preferAdis = true;
   } gyrHandlingParameters;
 
   struct RwHandlingParameters {
-    double rw0orientationMatrix[3][3];
-    double rw1orientationMatrix[3][3];
-    double rw2orientationMatrix[3][3];
-    double rw3orientationMatrix[3][3];
     double inertiaWheel = 0.000028198;
-    double maxTrq = 0.0032;  // 3.2 [mNm]
+    double maxTrq = 0.0032;             // 3.2 [mNm]
+    double stictionSpeed = 100;         // 80;          // RPM
+    double stictionReleaseSpeed = 120;  // RPM
+    double stictionTorque = 0.0006;
   } rwHandlingParameters;
 
   struct RwMatrices {
     double alignmentMatrix[3][4] = {{0.9205, 0.0000, -0.9205, 0.0000},
                                     {0.0000, -0.9205, 0.0000, 0.9205},
                                     {0.3907, 0.3907, 0.3907, 0.3907}};
-    double pseudoInverse[4][3] = {{0.4434, -0.2845, 0.3597},
-                                  {0.2136, -0.3317, 1.0123},
-                                  {-0.8672, -0.1406, 0.1778},
-                                  {0.6426, 0.4794, 1.3603}};
-    double without0[4][3];
-    double without1[4][3];
-    double without2[4][3];
-    double without3[4][3];
-    double nullspace[4] = {-0.7358, 0.5469, -0.3637, -0.1649};
+    double pseudoInverse[4][3] = {
+        {0.5432, 0, 0.6398}, {0, -0.5432, 0.6398}, {-0.5432, 0, 0.6398}, {0, 0.5432, 0.6398}};
+    double without0[4][3] = {
+        {0, 0, 0}, {0.5432, -0.5432, 1.2797}, {-1.0864, 0, 0}, {0.5432, 0.5432, 1.2797}};
+    double without1[4][3] = {
+        {0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 1.0864, 0}};
+    double without2[4][3] = {
+        {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
+    double without3[4][3] = {
+        {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
+    double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
   } rwMatrices;
 
   struct SafeModeControllerParameters {
     double k_rate_mekf = 0.00059437;
     double k_align_mekf = 0.000056875;
 
-    double k_rate_no_mekf;
-    double k_align_no_mekf;
-    double sunMagAngleMin;
+    double k_rate_no_mekf = 0.00059437;
+    double k_align_no_mekf = 0.000056875;
 
-    double sunTargetDir[3] = {1, 0, 0};  // Body frame
-    double satRateRef[3];                // Body frame
+    double sunMagAngleMin = 5 * M_PI / 180;
 
+    double sunTargetDirLeop[3] = {0, .5, .5};
+    double sunTargetDir[3] = {0, 0, 1};
+
+    double satRateRef[3] = {0, 0, 0};
   } safeModeControllerParameters;
 
-  struct DetumbleCtrlParameters {
-    double gainD = pow(10.0, -3.3);
-
-  } detumbleCtrlParameters;
-
-  // ToDo: mutiple structs for different pointing mode controllers?
-  struct PointingModeControllerParameters {
-    double updtFlag;
-    double A_rw[3][12];
-
-    double refDirection[3] = {1, 0, 0};
-    double refRotRate[3] = {0, 0, 0};
-    double quatRef[4] = {0, 0, 0, 1};
-    bool avoidBlindStr = true;
-    double blindAvoidStart = 1.5;
-    double blindAvoidStop = 2.5;
-    double blindRotRate = 1 * M_PI / 180;
-
+  struct PointingLawParameters {
     double zeta = 0.3;
-    double zetaLow;
     double om = 0.3;
-    double omLow;
     double omMax = 1 * M_PI / 180;
     double qiMin = 0.1;
     double gainNullspace = 0.01;
 
     double desatMomentumRef[3] = {0, 0, 0};
     double deSatGainFactor = 1000;
-    bool desatOn = true;
+    uint8_t desatOn = true;
+    uint8_t enableAntiStiction = true;
+  } pointingLawParameters;
 
-    double omegaEarth = 0.000072921158553;
+  struct TargetModeControllerParameters : PointingLawParameters {
+    double refDirection[3] = {-1, 0, 0};  // Antenna
+    double refRotRate[3] = {0, 0, 0};     // Not used atm, do we want an option to
+    // give this as an input- currently en calculation is done
+    double quatRef[4] = {0, 0, 0, 1};
+    int8_t timeElapsedMax = 10;  // rot rate calculations
 
-  } inertialModeControllerParameters, nadirModeControllerParameters, targetModeControllerParameters;
+    // Default is Stuttgart GS
+    double latitudeTgt = 48.7495 * M_PI / 180.;   // [rad] Latitude
+    double longitudeTgt = 9.10384 * M_PI / 180.;  // [rad] Longitude
+    double altitudeTgt = 500;                     // [m]
+
+    // For one-axis control:
+    uint8_t avoidBlindStr = true;
+    double blindAvoidStart = 1.5;
+    double blindAvoidStop = 2.5;
+    double blindRotRate = 1 * M_PI / 180;
+  } targetModeControllerParameters;
+
+  struct NadirModeControllerParameters : PointingLawParameters {
+    double refDirection[3] = {-1, 0, 0};  // Antenna
+    double quatRef[4] = {0, 0, 0, 1};
+    int8_t timeElapsedMax = 10;  // rot rate calculations
+  } nadirModeControllerParameters;
+
+  struct InertialModeControllerParameters : PointingLawParameters {
+    double tgtQuat[4] = {0, 0, 0, 1};
+    double refRotRate[3] = {0, 0, 0};
+    double quatRef[4] = {0, 0, 0, 1};
+  } inertialModeControllerParameters;
 
   struct StrParameters {
     double exclusionAngle = 20 * M_PI / 180;
-    //		double strOrientationMatrix[3][3];
-    double boresightAxis[3] = {0.7593, 0.0000, -0.6508};  // in body/geometry frame
+    double boresightAxis[3] = {0.7593, 0.0000, -0.6508};  // geometry frame
   } strParameters;
 
   struct GpsParameters {
+    double timeDiffVelocityMax = 30;  //[s]
   } gpsParameters;
 
-  struct GroundStationParameters {
-    double latitudeGs = 48.7495 * M_PI / 180.;   // [rad] Latitude
-    double longitudeGs = 9.10384 * M_PI / 180.;  // [rad] Longitude
-    double altitudeGs = 500;                     // [m] Altitude
-    double earthRadiusEquat = 6378137;           // [m]
-    double earthRadiusPolar = 6356752.314;       // [m]
-  } groundStationParameters;                     // Stuttgart
-
   struct SunModelParameters {
-    enum UseSunModel { NO = 0, YES = 3 };
-    uint8_t useSunModel;
     float domega = 36000.771;
-    float omega_0 = 282.94 * M_PI / 180.;  // RAAN plus argument of perigee
-    float m_0 = 357.5256;                  // coefficients for mean anomaly
+    float omega_0 = 280.46 * M_PI / 180.;  // RAAN plus argument of
+                                           // perigee
+    float m_0 = 357.5277;                  // coefficients for mean anomaly
     float dm = 35999.049;                  // coefficients for mean anomaly
     float e = 23.4392911 * M_PI / 180.;    // angle of earth's rotation axis
     float e1 = 0.74508 * M_PI / 180.;
@@ -872,19 +893,13 @@ class AcsParameters /*: public HasParametersIF*/ {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    uint8_t activateKalmanFilter;
-    uint8_t requestResetFlag;
-    double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
-    double processNoiseOmega[3];
-    double processNoiseQuaternion[4];
-
     double sensorNoiseSTR = 0.1 * M_PI / 180;
     double sensorNoiseSS = 8 * M_PI / 180;
     double sensorNoiseMAG = 4 * M_PI / 180;
-    double sensorNoiseRMU[3];
+    double sensorNoiseGYR = 0.1 * M_PI / 180;
 
-    double sensorNoiseArwRmu;  // Angular Random Walk
-    double sensorNoiseBsRMU;   // Bias Stability
+    double sensorNoiseArwGYR = 3 * 0.0043 * M_PI / sqrt(10) / 180;  // Angular Random Walk
+    double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600;                // Bias Stability
   } kalmanFilterParameters;
 
   struct MagnetorquesParameter {
@@ -899,8 +914,8 @@ class AcsParameters /*: public HasParametersIF*/ {
 
   struct DetumbleParameter {
     uint8_t detumblecounter = 75;  // 30 s
-    double omegaDetumbleStart = 2;
-    double omegaDetumbleEnd = 0.4;
+    double omegaDetumbleStart = 2 * M_PI / 180;
+    double omegaDetumbleEnd = 0.4 * M_PI / 180;
     double gainD = pow(10.0, -3.3);
   } detumbleParameter;
 };

mission/controller/acs/ActuatorCmd.cpp

@@ -21,26 +21,27 @@ ActuatorCmd::ActuatorCmd(AcsParameters *acsParameters_) { acsParameters = *acsPa
 
 ActuatorCmd::~ActuatorCmd() {}
 
-void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
-                                const int32_t *speedRw2, const int32_t *speedRw3,
-                                const double *rwTrqIn, const double *rwTrqNS, double *rwCmdSpeed) {
-  using namespace Math;
+void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled) {
   // Scaling the commanded torque to a maximum value
-  double torque[4] = {0, 0, 0, 0};
   double maxTrq = acsParameters.rwHandlingParameters.maxTrq;
-  VectorOperations<double>::add(rwTrqIn, rwTrqNS, torque, 4);
 
   double maxValue = 0;
   for (int i = 0; i < 4; i++) {  // size of torque, always 4 ?
-    if (abs(torque[i]) > maxValue) {
-      maxValue = abs(torque[i]);
+    if (abs(rwTrq[i]) > maxValue) {
+      maxValue = abs(rwTrq[i]);
     }
   }
 
   if (maxValue > maxTrq) {
     double scalingFactor = maxTrq / maxValue;
-    VectorOperations<double>::mulScalar(torque, scalingFactor, torque, 4);
+    VectorOperations<double>::mulScalar(rwTrq, scalingFactor, rwTrqScaled, 4);
   }
+}
+
+void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1,
+                                const int32_t *speedRw2, const int32_t *speedRw3,
+                                const double *rwTorque, double *rwCmdSpeed) {
+  using namespace Math;
 
   // Calculating the commanded speed in RPM for every reaction wheel
   double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
@@ -50,7 +51,7 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
   double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
   //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
   double factor = commandTime / inertiaWheel * radToRpm;
-  VectorOperations<double>::mulScalar(torque, factor, deltaSpeed, 4);
+  VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
   VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
 }
 

mission/controller/acs/ActuatorCmd.h

@@ -1,10 +1,3 @@
-/*
- * ActuatorCmd.h
- *
- *  Created on: 4 Aug 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef ACTUATORCMD_H_
 #define ACTUATORCMD_H_
 
@@ -18,6 +11,14 @@ class ActuatorCmd {
   ActuatorCmd(AcsParameters *acsParameters_);  // Input mode ?
   virtual ~ActuatorCmd();
 
+  /*
+   * @brief:	scalingTorqueRws()	scales the torque via maximum part in case this part is
+   * higher then the maximum torque
+   * @param:	rwTrq	 			given torque for reaction wheels
+   * 			rwTrqScaled			possible scaled torque
+   */
+  void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
+
   /*
    * @brief:	cmdSpeedToRws()		will set the maximum possible torque for the reaction
    * wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
@@ -28,8 +29,7 @@ class ActuatorCmd {
    * reaction wheel
    */
   void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
-                     const int32_t *speedRw3, const double *rwTrqIn, const double *rwTrqNS,
-                     double *rwCmdSpeed);
+                     const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
 
   /*
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques

mission/controller/acs/Guidance.cpp

@@ -13,6 +13,8 @@
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <math.h>
 
+#include <filesystem>
+
 #include "string.h"
 #include "util/CholeskyDecomposition.h"
 #include "util/MathOperations.h"
@@ -22,57 +24,53 @@ Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParamete
 Guidance::~Guidance() {}
 
 void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
-  for (int i = 0; i < 3; i++) {
-    sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
-    satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
+  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
+      not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {  // ToDo: if file does not exist anymore
+    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
+                3 * sizeof(double));
+  } else {
+    std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
+                3 * sizeof(double));
   }
-
-  //	memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
+  std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
+              3 * sizeof(double));
 }
 
-void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                             acsctrl::SusDataProcessed *susDataProcessed, timeval now,
-                             double targetQuat[4], double refSatRate[3]) {
+void Guidance::targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                                       acsctrl::SusDataProcessed *susDataProcessed,
+                                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                                       double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
-  //	Calculation of target quaternion to groundstation
+  //	Calculation of target quaternion to groundstation or given latitude, longitude and altitude
   //-------------------------------------------------------------------------------------
-  //	Transform longitude, latitude and altitude of groundstation to cartesian coordiantes (earth
+  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
   // fixed/centered frame)
-  double groundStationCart[3] = {0, 0, 0};
+  double targetCart[3] = {0, 0, 0};
 
-  MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
-                                                  acsParameters.groundStationParameters.longitudeGs,
-                                                  acsParameters.groundStationParameters.altitudeGs,
-                                                  groundStationCart);
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.targetModeControllerParameters.latitudeTgt,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
+      acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
 
   //	Position of the satellite in the earth/fixed frame via GPS
   double posSatE[3] = {0, 0, 0};
-  MathOperations<double>::cartesianFromLatLongAlt(sensorValues->gpsSet.latitude.value,
-                                                  sensorValues->gpsSet.longitude.value,
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
                                                   sensorValues->gpsSet.altitude.value, posSatE);
 
   //	Target direction in the ECEF frame
   double targetDirE[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
+  VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
 
   //	Transformation between ECEF and IJK frame
   double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::dcmEJ(now, *dcmEJ);
-  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
-  //	Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
   double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
   double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
-  double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
-
-  //	TEST SECTION !
-  // double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  // MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
-  // dcmTEST, dcmTEST, 3, 3, 3);
-
-  MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
   MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
 
   //	Transformation between ECEF and Body frame
@@ -111,9 +109,7 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
   //	Calculation of reference rotation rate
   //-------------------------------------------------------------------------------------
   double velSatE[3] = {0, 0, 0};
-  velSatE[0] = 0.0;  // sensorValues->gps0Velocity[0];
-  velSatE[1] = 0.0;  // sensorValues->gps0Velocity[1];
-  velSatE[2] = 0.0;  // sensorValues->gps0Velocity[2];
+  std::memcpy(velSatE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
   double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
   //	Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
   MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
@@ -134,10 +130,10 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
   //	Calculation of reference rotation rate in case of star tracker blinding
   //-------------------------------------------------------------------------------------
   if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
-    double sunDirJ[3] = {0, 0, 0};
     double sunDirB[3] = {0, 0, 0};
 
     if (susDataProcessed->sunIjkModel.isValid()) {
+      double sunDirJ[3] = {0, 0, 0};
       std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
       MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
     } else {
@@ -183,14 +179,414 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
   }
 }
 
-void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
-                          double quatErrorComplete[4], double quatError[3], double deltaRate[3]) {
-  double quatRef[4] = {0, 0, 0, 0};
-  quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
-  quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
-  quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
-  quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
+void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
+                               double *refSatRate) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //-------------------------------------------------------------------------------------
+  double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
+                       (timeSavedQuaternion.tv_sec +
+                        timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
+  if (timeElapsed < timeElapsedMax) {
+    double qDiff[4] = {0, 0, 0, 0};
+    VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
+    VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
 
+    double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
+           qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
+    double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
+    VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
+    VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
+    VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
+    VectorOperations<double>::add(sum1, sum2, sum, 3);
+    VectorOperations<double>::subtract(sum, sum3, sum, 3);
+    double omegaRefNew[3] = {0, 0, 0};
+    VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
+
+    VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
+    VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
+    omegaRefSaved[0] = omegaRefNew[0];
+    omegaRefSaved[1] = omegaRefNew[1];
+    omegaRefSaved[2] = omegaRefNew[2];
+  } else {
+    refSatRate[0] = 0;
+    refSatRate[1] = 0;
+    refSatRate[2] = 0;
+  }
+
+  timeSavedQuaternion = now;
+  savedQuaternion[0] = quatInertialTarget[0];
+  savedQuaternion[1] = quatInertialTarget[1];
+  savedQuaternion[2] = quatInertialTarget[2];
+  savedQuaternion[3] = quatInertialTarget[3];
+}
+
+void Guidance::targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
+                                      acsctrl::GpsDataProcessed *gpsDataProcessed,
+                                      acsctrl::MekfData *mekfData, timeval now,
+                                      double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for target pointing
+  //-------------------------------------------------------------------------------------
+  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
+  // fixed/centered frame)
+  double targetCart[3] = {0, 0, 0};
+
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.targetModeControllerParameters.latitudeTgt,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
+      acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  std::memcpy(posSatE, gpsDataProcessed->gpsPosition.value, 3 * sizeof(double));
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Target Direction and position vector in the inertial frame
+  double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
+
+  // negative x-Axis aligned with target (Camera/E-band transmitter position)
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // Transform velocity into inertial frame
+  double velocityE[3];
+  std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
+  double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
+  VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
+
+  // orbital normal vector
+  double orbitalNormalJ[3] = {0, 0, 0};
+  VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
+  VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
+
+  // y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  // z-Axis completes RHS
+  double zAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(xAxis, yAxis, zAxis);
+
+  // Complete transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatInertialTarget[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
+
+  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
+  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
+
+  // Transform in system relative to satellite frame
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
+}
+
+void Guidance::targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                               acsctrl::SusDataProcessed *susDataProcessed,
+                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                               double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for ground station pointing
+  //-------------------------------------------------------------------------------------
+  //	Transform longitude, latitude and altitude to cartesian coordiantes (earth
+  // fixed/centered frame)
+  double groundStationCart[3] = {0, 0, 0};
+
+  MathOperations<double>::cartesianFromLatLongAlt(
+      acsParameters.targetModeControllerParameters.latitudeTgt,
+      acsParameters.targetModeControllerParameters.longitudeTgt,
+      acsParameters.targetModeControllerParameters.altitudeTgt, groundStationCart);
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Target Direction and position vector in the inertial frame
+  double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
+
+  // negative x-Axis aligned with target (Camera/E-band transmitter position)
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // get Sun Vector Model in ECI
+  double sunJ[3];
+  std::memcpy(sunJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
+  VectorOperations<double>::normalize(sunJ, sunJ, 3);
+
+  // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
+  // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
+  double xDotS = VectorOperations<double>::dot(xAxis, sunJ);
+  xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
+  double sunParallel[3], zAxis[3];
+  VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
+  VectorOperations<double>::subtract(sunJ, sunParallel, zAxis, 3);
+  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+
+  // calculate y-axis
+  double yAxis[3];
+  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  // Complete transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatInertialTarget[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
+
+  int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
+  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
+
+  // Transform in system relative to satellite frame
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
+}
+
+void Guidance::sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                          acsctrl::SusDataProcessed *susDataProcessed,
+                          acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                          double targetQuat[4], double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion to sun
+  //-------------------------------------------------------------------------------------
+  double quatBJ[4] = {0, 0, 0, 0};
+  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::toDcm(quatBJ, dcmBJ);
+
+  double sunDirJ[3] = {0, 0, 0}, sunDirB[3] = {0, 0, 0};
+  if (susDataProcessed->sunIjkModel.isValid()) {
+    std::memcpy(sunDirJ, susDataProcessed->sunIjkModel.value, 3 * sizeof(double));
+    MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
+  } else if (susDataProcessed->susVecTot.isValid()) {
+    std::memcpy(sunDirB, susDataProcessed->susVecTot.value, 3 * sizeof(double));
+  } else {
+    return;
+  }
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  // positive z-Axis of EIVE in direction of sun
+  double zAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(sunDirB, zAxis, 3);
+
+  // Assign helper vector (north pole inertial)
+  double helperVec[3] = {0, 0, 1};
+
+  //
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxis, helperVec, yAxis);
+  VectorOperations<double>::normalize(yAxis, yAxis, 3);
+
+  //
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(yAxis, zAxis, xAxis);
+  VectorOperations<double>::normalize(xAxis, xAxis, 3);
+
+  // Transformation matrix to Sun, no further transforamtions, reference is already
+  // the EIVE body frame
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatSun[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatSun);
+
+  targetQuat[0] = quatSun[0];
+  targetQuat[1] = quatSun[1];
+  targetQuat[2] = quatSun[2];
+  targetQuat[3] = quatSun[3];
+
+  //----------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //----------------------------------------------------------------------------
+  refSatRate[0] = 0;
+  refSatRate[1] = 0;
+  refSatRate[2] = 0;
+}
+
+void Guidance::quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                                      timeval now, double targetQuat[4],
+                                      double refSatRate[3]) {  // old version of Nadir Pointing
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for Nadir pointing
+  //-------------------------------------------------------------------------------------
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Transformation between ECEF and Body frame
+  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::toDcm(quatBJ, dcmBJ);
+  MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
+
+  //	Target Direction in the body frame
+  double targetDirB[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
+
+  //	rotation quaternion from two vectors
+  double refDir[3] = {0, 0, 0};
+  refDir[0] = acsParameters.nadirModeControllerParameters.refDirection[0];
+  refDir[1] = acsParameters.nadirModeControllerParameters.refDirection[1];
+  refDir[2] = acsParameters.nadirModeControllerParameters.refDirection[2];
+  double noramlizedTargetDirB[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
+  VectorOperations<double>::normalize(refDir, refDir, 3);
+  double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
+  double normRefDir = VectorOperations<double>::norm(refDir, 3);
+  double crossDir[3] = {0, 0, 0};
+  double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
+  VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
+  targetQuat[0] = crossDir[0];
+  targetQuat[1] = crossDir[1];
+  targetQuat[2] = crossDir[2];
+  targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
+  VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
+
+  //-------------------------------------------------------------------------------------
+  //	Calculation of reference rotation rate
+  //-------------------------------------------------------------------------------------
+  refSatRate[0] = 0;
+  refSatRate[1] = 0;
+  refSatRate[2] = 0;
+}
+
+void Guidance::quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
+                                     acsctrl::GpsDataProcessed *gpsDataProcessed,
+                                     acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+                                     double refSatRate[3]) {
+  //-------------------------------------------------------------------------------------
+  //	Calculation of target quaternion for Nadir pointing
+  //-------------------------------------------------------------------------------------
+  //	Position of the satellite in the earth/fixed frame via GPS
+  double posSatE[3] = {0, 0, 0};
+  double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
+  double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
+  MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
+                                                  sensorValues->gpsSet.altitude.value, posSatE);
+  double targetDirE[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
+
+  //	Transformation between ECEF and IJK frame
+  double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
+
+  double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
+
+  //	Target Direction in the body frame
+  double targetDirJ[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
+
+  // negative x-Axis aligned with target (Camera position)
+  double xAxis[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
+  VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
+
+  // z-Axis parallel to long side of picture resolution
+  double zAxis[3] = {0, 0, 0}, velocityE[3];
+  std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
+  double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
+  MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
+  VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
+  VectorOperations<double>::cross(xAxis, velocityJ, zAxis);
+  VectorOperations<double>::normalize(zAxis, zAxis, 3);
+
+  // y-Axis completes RHS
+  double yAxis[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxis, xAxis, yAxis);
+
+  // Complete transformation matrix
+  double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
+                         {xAxis[1], yAxis[1], zAxis[1]},
+                         {xAxis[2], yAxis[2], zAxis[2]}};
+  double quatInertialTarget[4] = {0, 0, 0, 0};
+  QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
+
+  int8_t timeElapsedMax = acsParameters.nadirModeControllerParameters.timeElapsedMax;
+  refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
+
+  // Transform in system relative to satellite frame
+  double quatBJ[4] = {0, 0, 0, 0};
+  std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
+  QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
+}
+
+void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
+  std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
+              4 * sizeof(double));
+  std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,
+              3 * sizeof(double));
+}
+
+void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
+                          double refSatRate[3], double quatErrorComplete[4], double quatError[3],
+                          double deltaRate[3]) {
   double satRate[3] = {0, 0, 0};
   std::memcpy(satRate, mekfData->satRotRateMekf.value, 3 * sizeof(double));
   VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
@@ -210,8 +606,8 @@ void Guidance::comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, dou
   quatError[1] = quatErrorComplete[1];
   quatError[2] = quatErrorComplete[2];
 
-  // target flag in matlab, importance, does look like it only gives
-  //	feedback if pointing control is under 150 arcsec ??
+  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
+  // under 150 arcsec ??
 }
 
 void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
@@ -300,7 +696,7 @@ void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *
     // 	    @note: This one takes the normal pseudoInverse of all four raction wheels valid.
     //		Does not make sense, but is implemented that way in MATLAB ?!
     //		Thought: It does not really play a role, because in case there are more then one
-    //		reaction wheel the pointing control is destined to fail.
+    //		reaction wheel invalid the pointing control is destined to fail.
     rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
     rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
     rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];

mission/controller/acs/Guidance.h

@@ -21,16 +21,49 @@ class Guidance {
 
   void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
 
-  // Function to get the target quaternion and refence rotation rate from gps position and position
-  // of the ground station
-  void targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
-                     acsctrl::SusDataProcessed *susDataProcessed, timeval now, double targetQuat[4],
-                     double refSatRate[3]);
+  // Function to get the target quaternion and refence rotation rate from gps position and
+  // position of the ground station
+  void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
+                              acsctrl::GpsDataProcessed *gpsDataProcessed,
+                              acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+                              double refSatRate[3]);
+  void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                       acsctrl::SusDataProcessed *susDataProcessed,
+                       acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                       double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                               acsctrl::SusDataProcessed *susDataProcessed,
+                               acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
+                               double targetQuat[4], double refSatRate[3]);
+
+  // Function to get the target quaternion and refence rotation rate for sun pointing after ground
+  // station
+  void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                  acsctrl::SusDataProcessed *susDataProcessed,
+                  acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
+                  double refSatRate[3]);
+
+  // Function to get the target quaternion and refence rotation rate from gps position for Nadir
+  // pointing
+  void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
+                             acsctrl::GpsDataProcessed *gpsDataProcessed,
+                             acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
+                             double refSatRate[3]);
+  void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
+                              timeval now, double targetQuat[4], double refSatRate[3]);
+
+  // Function to get the target quaternion and refence rotation rate from parameters for inertial
+  // pointing
+  void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
 
   // @note: compares target Quaternion and reference quaternion, also actual satellite rate and
   // desired
-  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
-                  double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
+  void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double quatRef[4],
+                  double refSatRate[3], double quatErrorComplete[4], double quatError[3],
+                  double deltaRate[3]);
+
+  void refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
+                       double *refSatRate);
 
   //	@note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
   // reation wheel 	maybe can be done in "commanding.h"
@@ -39,6 +72,12 @@ class Guidance {
  private:
   AcsParameters acsParameters;
   bool strBlindAvoidFlag = false;
+  timeval timeSavedQuaternion;
+  double savedQuaternion[4] = {0, 0, 0, 0};
+  double omegaRefSaved[3] = {0, 0, 0};
+
+  static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/deployment";
+  static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/deployment";
 };
 
 #endif /* ACS_GUIDANCE_H_ */

mission/controller/acs/Igrf13Model.cpp

@@ -1,22 +1,19 @@
-/*
- * Igrf13Model.cpp
- *
- *  Created on: 10 Mar 2022
- *      Author: Robin Marquardt
- */
-
 #include "Igrf13Model.h"
 
-#include <fsfw/globalfunctions/constants.h>
-#include <fsfw/globalfunctions/math/MatrixOperations.h>
-#include <fsfw/globalfunctions/math/QuaternionOperations.h>
-#include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>
+#include <fsfw/src/fsfw/globalfunctions/constants.h>
+#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
+#include <fsfw/src/fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/src/fsfw/globalfunctions/math/VectorOperations.h>
 #include <stdint.h>
 #include <string.h>
+#include <time.h>
+
+#include <cmath>
 
 #include "util/MathOperations.h"
 
+using namespace Math;
+
 Igrf13Model::Igrf13Model() {}
 Igrf13Model::~Igrf13Model() {}
 
@@ -25,7 +22,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
                                double* magFieldModelInertial) {
   double phi = longitude, theta = gcLatitude;  // geocentric
   /* Here is the co-latitude needed*/
-  theta -= 90 * Math::PI / 180;
+  theta -= 90 * PI / 180;
   theta *= (-1);
 
   double rE = 6371200.0;  // radius earth [m]
@@ -43,7 +40,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
         /* Calculation of Legendre Polynoms (normalised) */
         if (n == m) {
           P2 = sin(theta) * P11;
-          dP2 = sin(theta) * dP11 - cos(theta) * P11;
+          dP2 = sin(theta) * dP11 + cos(theta) * P11;
           P11 = P2;
           P10 = P11;
           P20 = 0;
@@ -70,11 +67,11 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
         magFieldModel[0] +=
             pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
             ((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
-        /* gradient of scalar potential towards phi */
+        /* gradient of scalar potential towards theta */
         magFieldModel[1] +=
             pow(rE / (altitude + rE), (n + 2)) *
             ((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
-        /* gradient of scalar potential towards theta */
+        /* gradient of scalar potential towards phi */
         magFieldModel[2] +=
             pow(rE / (altitude + rE), (n + 2)) *
             ((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
@@ -85,31 +82,30 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
   magFieldModel[1] *= -1;
   magFieldModel[2] *= (-1 / sin(theta));
 
-  /* Next step: transform into inertial KOS (IJK)*/
-  // Julean Centuries
-  double JD2000Floor = 0;
   double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
-  JD2000Floor = floor(JD2000);
-  double JC2000 = JD2000Floor / 36525;
-
-  double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
-               0.000000026 * pow(JC2000, 3);  // greenwich sidereal time
-  gst *= PI / 180;                            // convert to radians
-  double sec =
-      (JD2000 - JD2000Floor) * 86400;  // Seconds on this day (Universal time) // FROM GPS ?
-  double omega0 = 0.00007292115;       // mean angular velocity earth [rad/s]
-  gst += omega0 * sec;
+  double UT1 = JD2000 / 36525.;
 
+  double gst =
+      280.46061837 + 360.98564736629 * JD2000 + 0.0003875 * pow(UT1, 2) - 2.6e-8 * pow(UT1, 3);
+  gst = std::fmod(gst, 360.);
+  gst *= PI / 180.;
   double lst = gst + longitude;  // local sidereal time [rad]
 
-  magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
-                             magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
-  magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
-                             magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
-  magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
+  magFieldModelInertial[0] =
+      (magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * cos(lst) -
+      magFieldModel[2] * sin(lst);
+  magFieldModelInertial[1] =
+      (magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * sin(lst) +
+      magFieldModel[2] * cos(lst);
+  magFieldModelInertial[2] =
+      magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
 
   double normVecMagFieldInert[3] = {0, 0, 0};
   VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
+
+  magFieldModel[0] = 0;
+  magFieldModel[1] = 0;
+  magFieldModel[2] = 0;
 }
 
 void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
@@ -123,3 +119,34 @@ void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
     }
   }
 }
+
+void Igrf13Model::schmidtNormalization() {
+  double kronDelta = 0;
+  schmidtFactors[0][0] = 1;
+  for (int n = 1; n <= igrfOrder; n++) {
+    if (n == 1) {
+      schmidtFactors[0][n - 1] = 1;
+    } else {
+      schmidtFactors[0][n - 1] = schmidtFactors[0][n - 2] * (2 * n - 1) / n;
+    }
+    for (int m = 1; m <= igrfOrder; m++) {
+      if (m == 1) {
+        kronDelta = 1;
+      } else {
+        kronDelta = 0;
+      }
+      schmidtFactors[m][n - 1] =
+          schmidtFactors[m - 1][n - 1] * sqrt((n - m + 1) * (kronDelta + 1) / (n + m));
+    }
+  }
+
+  for (int i = 0; i <= igrfOrder; i++) {
+    for (int j = 0; j <= (igrfOrder - 1); j++) {
+      coeffG[i][j] = schmidtFactors[i][j] * coeffG[i][j];
+      coeffH[i][j] = schmidtFactors[i][j] * coeffH[i][j];
+
+      svG[i][j] = schmidtFactors[i][j] * svG[i][j];
+      svH[i][j] = schmidtFactors[i][j] * svH[i][j];
+    }
+  }
+}

mission/controller/acs/Igrf13Model.h

@@ -43,14 +43,15 @@ class Igrf13Model /*:public HasParametersIF*/ {
    * - timeOfMagMeasurement: time of actual measurement [s]
    *
    * Outputs:
-   * - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
+   * - magFieldModelInertial: Magnetic Field Vector in IJK RF [nT]*/
 
   // Coefficient wary over year, could be updated sometimes.
   void updateCoeffGH(timeval timeOfMagMeasurement);  // Secular variation (SV)
   double magFieldModel[3];
+  void schmidtNormalization();
 
  private:
-  const double coeffG[14][13] = {
+  double coeffG[14][13] = {
       {-29404.8, -2499.6, 1363.2, 903.0, -234.3, 66.0, 80.6, 23.7, 5.0, -1.9, 3.0, -2.0, 0.1},
       {-1450.9, 2982.0, -2381.2, 809.5, 363.2, 65.5, -76.7, 9.7, 8.4, -6.2, -1.4, -0.1, -0.9},
       {0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2, -17.6, 2.9, -0.1, -2.5, 0.5, 0.5},
@@ -66,7 +67,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -0.5},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.4}};  // [m][n] in nT
 
-  const double coeffH[14][13] = {
+  double coeffH[14][13] = {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0},
       {4652.5, -2991.6, -82.1, 281.9, 47.7, -19.1, -51.5, 8.4, -23.4, 3.4, 0.0, -1.2, -0.9},
       {0.0, -734.6, 241.9, -158.4, 208.3, 25.1, -16.9, -15.3, 11.0, -0.2, 2.5, 0.5, 0.6},
@@ -82,7 +83,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, -0.4},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.6}};  // [m][n] in nT
 
-  const double svG[14][13] = {
+  double svG[14][13] = {
       {5.7, -11.0, 2.2, -1.2, -0.3, -0.5, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {7.4, -7.0, -5.9, -1.6, 0.5, -0.3, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, -2.1, 3.1, -5.9, -0.6, 0.4, 0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
@@ -98,7 +99,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};  // [m][n] in nT
 
-  const double svH[14][13] = {
+  double svH[14][13] = {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {-25.9, -30.2, 6.0, -0.1, 0.0, 0.0, 0.6, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, -22.4, -1.1, 6.5, 2.5, -1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
@@ -114,6 +115,16 @@ class Igrf13Model /*:public HasParametersIF*/ {
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
       {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};  // [m][n] in nT
 
+  double schmidtFactors[14][13] = {
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
+      {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}};
+  ;
+
   double updatedG[14][13];
   double updatedH[14][13];
   static const int igrfOrder = 13;  // degree of truncation

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -1,10 +1,3 @@
-/*
- * MultiplicativeKalmanFilter.cpp
- *
- *  Created on: 4 Feb 2022
- *      Author: rooob
- */
-
 #include "MultiplicativeKalmanFilter.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -14,6 +7,8 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <cmath>
+
 #include "util/CholeskyDecomposition.h"
 #include "util/MathOperations.h"
 
@@ -29,7 +24,7 @@ MultiplicativeKalmanFilter::~MultiplicativeKalmanFilter() {}
 
 void MultiplicativeKalmanFilter::loadAcsParameters(AcsParameters *acsParameters_) {
   inertiaEIVE = &(acsParameters_->inertiaEIVE);
-  kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters); /*Sensor noises also here*/
+  kalmanFilterParameters = &(acsParameters_->kalmanFilterParameters);
 }
 
 void MultiplicativeKalmanFilter::reset() {}
@@ -41,14 +36,11 @@ void MultiplicativeKalmanFilter::init(
   // check for valid mag/sun
   if (validMagField_ && validSS && validSSModel && validMagModel) {
     validInit = true;
-    // AcsParameters mekfEstParams;
-    // loadAcsParameters(&mekfEstParams);
     //  QUEST ALGO -----------------------------------------------------------------------
     double sigmaSun = 0, sigmaMag = 0, sigmaGyro = 0;
     sigmaSun = kalmanFilterParameters->sensorNoiseSS;
     sigmaMag = kalmanFilterParameters->sensorNoiseMAG;
-
-    sigmaGyro = 0.1 * 3.141 / 180;  // acs parameters
+    sigmaGyro = kalmanFilterParameters->sensorNoiseGYR;
 
     double normMagB[3] = {0, 0, 0}, normSunB[3] = {0, 0, 0}, normMagJ[3] = {0, 0, 0},
            normSunJ[3] = {0, 0, 0};
@@ -136,7 +128,6 @@ void MultiplicativeKalmanFilter::init(
            matrixMag[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
            matrixSunMag[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
            matrixMagSun[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-    /* vector*transpose(vector)*/
     MatrixOperations<double>::multiply(sunEstB, sunEstB, *matrixSun, 3, 1, 3);
     MatrixOperations<double>::multiply(magEstB, magEstB, *matrixMag, 3, 1, 3);
     MatrixOperations<double>::multiply(sunEstB, magEstB, *matrixSunMag, 3, 1, 3);
@@ -199,8 +190,6 @@ void MultiplicativeKalmanFilter::init(
     initialCovarianceMatrix[5][3] = initGyroCov[2][0];
     initialCovarianceMatrix[5][4] = initGyroCov[2][1];
     initialCovarianceMatrix[5][5] = initGyroCov[2][2];
-    // initialCovarianceMatrix[][] = {{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0},
-    //{0,0,0,0,0,0},{0,0,0,0,0,0},{0,0,0,0,0,0}};
   } else {
     // no initialisation possible, no valid measurements
     validInit = false;
@@ -208,14 +197,15 @@ void MultiplicativeKalmanFilter::init(
 }
 
 // --------------- MEKF DISCRETE TIME STEP -------------------------------
-ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
-    const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
-    const bool validGYRs_, const double *magneticField_, const bool validMagField_,
-    const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel,
-    const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData) {
+ReturnValue_t MultiplicativeKalmanFilter::mekfEst(const double *quaternionSTR, const bool validSTR_,
+                                                  const double *rateGYRs_, const bool validGYRs_,
+                                                  const double *magneticField_,
+                                                  const bool validMagField_, const double *sunDir_,
+                                                  const bool validSS, const double *sunDirJ,
+                                                  const bool validSSModel, const double *magFieldJ,
+                                                  const bool validMagModel, double sampleTime,
+                                                  acsctrl::MekfData *mekfData) {
   // Check for GYR Measurements
-  // AcsParameters mekfEstParams;
-  // loadAcsParameters(&mekfEstParams);
   int MDF = 0;  // Matrix Dimension Factor
   if (!validGYRs_) {
     {
@@ -960,10 +950,8 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   biasGYR[2] = updatedGyroBias[2];
 
   /* ----------- PROPAGATION ----------*/
-  // double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
-  // double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
-  double sigmaU = 3 * 3.141 / 180 / 3600;
-  double sigmaV = 3 * 0.0043 * 3.141 / sqrt(10) / 180;
+  double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
+  double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
 
   double discTimeMatrix[6][6] = {{-1, 0, 0, 0, 0, 0}, {0, -1, 0, 0, 0, 0}, {0, 0, -1, 0, 0, 0},
                                  {0, 0, 0, 1, 0, 0},  {0, 0, 0, 0, 1, 0},  {0, 0, 0, 0, 0, 1}};
@@ -977,170 +965,135 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   // Discrete Process Noise Covariance Q
   double discProcessNoiseCov[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                       {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
-  double covQ1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         covQ2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         covQ3[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         transCovQ2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  if (normRotEst * sampleTime < 3.141 / 10) {
-    double fact1 = sampleTime * pow(sigmaV, 2) + pow(sampleTime, 3) * pow(sigmaU, 2 / 3);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact1, *covQ1, 3, 3);
-    double fact2 = -(0.5 * pow(sampleTime, 2) * pow(sigmaU, 2));
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact2, *covQ2, 3, 3);
-    MatrixOperations<double>::transpose(*covQ2, *transCovQ2, 3);
-    double fact3 = sampleTime * pow(sigmaU, 2);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact3, *covQ3, 3, 3);
+  double covQ11[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         covQ12[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         covQ22[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         covQ12trans[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  if (normRotEst * sampleTime < M_PI / 10) {
+    double fact11 = pow(sigmaV, 2) * sampleTime + 1. / 3. * pow(sigmaU, 2) * pow(sampleTime, 3);
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11, *covQ11, 3, 3);
 
-    discProcessNoiseCov[0][0] = covQ1[0][0];
-    discProcessNoiseCov[0][1] = covQ1[0][1];
-    discProcessNoiseCov[0][2] = covQ1[0][2];
-    discProcessNoiseCov[0][3] = covQ2[0][0];
-    discProcessNoiseCov[0][4] = covQ2[0][1];
-    discProcessNoiseCov[0][5] = covQ2[0][2];
-    discProcessNoiseCov[1][0] = covQ1[1][0];
-    discProcessNoiseCov[1][1] = covQ1[1][1];
-    discProcessNoiseCov[1][2] = covQ1[1][2];
-    discProcessNoiseCov[1][3] = covQ2[1][0];
-    discProcessNoiseCov[1][4] = covQ2[1][1];
-    discProcessNoiseCov[1][5] = covQ2[1][2];
-    discProcessNoiseCov[2][0] = covQ1[2][0];
-    discProcessNoiseCov[2][1] = covQ1[2][1];
-    discProcessNoiseCov[2][2] = covQ1[2][2];
-    discProcessNoiseCov[2][3] = covQ2[2][0];
-    discProcessNoiseCov[2][4] = covQ2[2][1];
-    discProcessNoiseCov[2][5] = covQ2[2][2];
-    discProcessNoiseCov[3][0] = transCovQ2[0][0];
-    discProcessNoiseCov[3][1] = transCovQ2[0][1];
-    discProcessNoiseCov[3][2] = transCovQ2[0][2];
-    discProcessNoiseCov[3][3] = covQ3[0][0];
-    discProcessNoiseCov[3][4] = covQ3[0][1];
-    discProcessNoiseCov[3][5] = covQ3[0][2];
-    discProcessNoiseCov[4][0] = transCovQ2[1][0];
-    discProcessNoiseCov[4][1] = transCovQ2[1][1];
-    discProcessNoiseCov[4][2] = transCovQ2[1][2];
-    discProcessNoiseCov[4][3] = covQ3[1][0];
-    discProcessNoiseCov[4][4] = covQ3[1][1];
-    discProcessNoiseCov[4][5] = covQ3[1][2];
-    discProcessNoiseCov[5][0] = transCovQ2[2][0];
-    discProcessNoiseCov[5][1] = transCovQ2[2][1];
-    discProcessNoiseCov[5][2] = transCovQ2[2][2];
-    discProcessNoiseCov[5][3] = covQ3[2][0];
-    discProcessNoiseCov[5][4] = covQ3[2][1];
-    discProcessNoiseCov[5][5] = covQ3[2][2];
+    double fact12 = -(1. / 2. * pow(sigmaU, 2) * pow(sampleTime, 2));
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact12, *covQ12, 3, 3);
+    std::memcpy(*covQ12trans, *covQ12, 3 * 3 * sizeof(double));
+
+    double fact22 = pow(sigmaU, 2) * sampleTime;
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact22, *covQ22, 3, 3);
   } else {
-    // double fact1 = sampleTime*pow(sigmaV,2);
-    double covQ11[3][3], covQ12[3][3], covQ13[3][3];
-    // MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact1, *covQ1, 3, 3);
-    double fact1 = (2 * normRotEst + sampleTime - 2 * sin(normRotEst * sampleTime) -
-                    pow(normRotEst, 3) / 3 * pow(sampleTime, 3)) /
-                   pow(normRotEst, 5);
-    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ11, 3, 3, 3);
-    MatrixOperations<double>::multiplyScalar(*covQ11, fact1, *covQ11, 3, 3);
-    double fact2 = pow(sampleTime, 3);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact2, *covQ12, 3, 3);
-    MatrixOperations<double>::subtract(*covQ12, *covQ11, *covQ11, 3, 3);
-    double fact3 = sampleTime * pow(sigmaV, 2);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact3, *covQ13, 3, 3);
-    MatrixOperations<double>::add(*covQ13, *covQ11, *covQ1, 3, 3);
+    double fact22 = pow(sigmaU, 2) * sampleTime;
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact22, *covQ22, 3, 3);
 
-    double covQ21[3][3], covQ22[3][3], covQ23[3][3];
-    double fact4 =
-        (0.5 * pow(normRotEst, 2) * pow(sampleTime, 2) + cos(normRotEst * sampleTime) - 1) /
+    double covQ12_0[3][3], covQ12_1[3][3], covQ12_2[3][3], covQ12_01[3][3];
+    double fact12_0 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
+    MatrixOperations<double>::multiplyScalar(*crossRotEst, fact12_0, *covQ12_0, 3, 3);
+    double fact12_1 = 1. / 2. * pow(sampleTime, 2);
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact12_1, *covQ12_1, 3, 3);
+    double fact12_2 =
+        (1. / 2. * pow(normRotEst, 2) * pow(sampleTime, 2) + cos(normRotEst * sampleTime) - 1) /
         pow(normRotEst, 4);
-    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ21, 3, 3, 3);
-    MatrixOperations<double>::multiplyScalar(*covQ21, fact4, *covQ21, 3, 3);
-    double fact5 = 0.5 * pow(sampleTime, 2);
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact5, *covQ22, 3, 3);
-    MatrixOperations<double>::add(*covQ22, *covQ21, *covQ21, 3, 3);
-    double fact6 = normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3);
-    MatrixOperations<double>::multiplyScalar(*crossRotEst, fact6, *covQ23, 3, 3);
-    MatrixOperations<double>::subtract(*covQ23, *covQ21, *covQ21, 3, 3);
-    double fact7 = pow(sigmaU, 2);
-    MatrixOperations<double>::multiplyScalar(*covQ21, fact7, *covQ2, 3, 3);
+    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ12_2, 3, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*covQ12_2, fact12_2, *covQ12_2, 3, 3);
+    MatrixOperations<double>::subtract(*covQ12_0, *covQ12_1, *covQ12_01, 3, 3);
+    MatrixOperations<double>::subtract(*covQ12_01, *covQ12_2, *covQ12, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*covQ12, pow(sigmaU, 2), *covQ12, 3, 3);
+    MatrixOperations<double>::transpose(*covQ12, *covQ12trans, 3);
 
-    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact7, *covQ3, 3, 3);
-
-    discProcessNoiseCov[0][0] = covQ1[0][0];
-    discProcessNoiseCov[0][1] = covQ1[0][1];
-    discProcessNoiseCov[0][2] = covQ1[0][2];
-    discProcessNoiseCov[0][3] = covQ2[0][0];
-    discProcessNoiseCov[0][4] = covQ2[0][1];
-    discProcessNoiseCov[0][5] = covQ2[0][2];
-    discProcessNoiseCov[1][0] = covQ1[1][0];
-    discProcessNoiseCov[1][1] = covQ1[1][1];
-    discProcessNoiseCov[1][2] = covQ1[1][2];
-    discProcessNoiseCov[1][3] = covQ2[1][0];
-    discProcessNoiseCov[1][4] = covQ2[1][1];
-    discProcessNoiseCov[1][5] = covQ2[1][2];
-    discProcessNoiseCov[2][0] = covQ1[2][0];
-    discProcessNoiseCov[2][1] = covQ1[2][1];
-    discProcessNoiseCov[2][2] = covQ1[2][2];
-    discProcessNoiseCov[2][3] = covQ2[2][0];
-    discProcessNoiseCov[2][4] = covQ2[2][1];
-    discProcessNoiseCov[2][5] = covQ2[2][2];
-    discProcessNoiseCov[3][0] = covQ2[0][0];
-    discProcessNoiseCov[3][1] = covQ2[0][1];
-    discProcessNoiseCov[3][2] = covQ2[0][2];
-    discProcessNoiseCov[3][3] = covQ3[0][0];
-    discProcessNoiseCov[3][4] = covQ3[0][1];
-    discProcessNoiseCov[3][5] = covQ3[0][2];
-    discProcessNoiseCov[4][0] = covQ2[1][0];
-    discProcessNoiseCov[4][1] = covQ2[1][1];
-    discProcessNoiseCov[4][2] = covQ2[1][2];
-    discProcessNoiseCov[4][3] = covQ3[1][0];
-    discProcessNoiseCov[4][4] = covQ3[1][1];
-    discProcessNoiseCov[4][5] = covQ3[1][2];
-    discProcessNoiseCov[5][0] = covQ2[2][0];
-    discProcessNoiseCov[5][1] = covQ2[2][1];
-    discProcessNoiseCov[5][2] = covQ2[2][2];
-    discProcessNoiseCov[5][3] = covQ3[2][0];
-    discProcessNoiseCov[5][4] = covQ3[2][1];
-    discProcessNoiseCov[5][5] = covQ3[2][2];
+    double covQ11_0[3][3], covQ11_1[3][3], covQ11_2[3][3], covQ11_12[3][3];
+    double fact11_0 = pow(sigmaV, 2) * sampleTime;
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11_0, *covQ11_0, 3, 3);
+    double fact11_1 = 1. / 3. * pow(sampleTime, 3);
+    MatrixOperations<double>::multiplyScalar(*identityMatrix3, fact11_1, *covQ11_1, 3, 3);
+    double fact11_2 = (2 * normRotEst * sampleTime - 2 * sin(normRotEst * sampleTime) -
+                       1. / 3. * pow(normRotEst, 3) * pow(sampleTime, 3)) /
+                      pow(normRotEst, 5);
+    MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *covQ11_2, 3, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*covQ11_2, fact11_2, *covQ11_2, 3, 3);
+    MatrixOperations<double>::subtract(*covQ11_1, *covQ11_2, *covQ11_12, 3, 3);
+    MatrixOperations<double>::multiplyScalar(*covQ11_12, pow(sigmaU, 2), *covQ11_12, 3, 3);
+    MatrixOperations<double>::add(*covQ11_0, *covQ11_12, *covQ11, 3, 3);
   }
+  discProcessNoiseCov[0][0] = covQ11[0][0];
+  discProcessNoiseCov[0][1] = covQ11[0][1];
+  discProcessNoiseCov[0][2] = covQ11[0][2];
+  discProcessNoiseCov[0][3] = covQ12[0][0];
+  discProcessNoiseCov[0][4] = covQ12[0][1];
+  discProcessNoiseCov[0][5] = covQ12[0][2];
+  discProcessNoiseCov[1][0] = covQ11[1][0];
+  discProcessNoiseCov[1][1] = covQ11[1][1];
+  discProcessNoiseCov[1][2] = covQ11[1][2];
+  discProcessNoiseCov[1][3] = covQ12[1][0];
+  discProcessNoiseCov[1][4] = covQ12[1][1];
+  discProcessNoiseCov[1][5] = covQ12[1][2];
+  discProcessNoiseCov[2][0] = covQ11[2][0];
+  discProcessNoiseCov[2][1] = covQ11[2][1];
+  discProcessNoiseCov[2][2] = covQ11[2][2];
+  discProcessNoiseCov[2][3] = covQ12[2][0];
+  discProcessNoiseCov[2][4] = covQ12[2][1];
+  discProcessNoiseCov[2][5] = covQ12[2][2];
+  discProcessNoiseCov[3][0] = covQ12trans[0][0];
+  discProcessNoiseCov[3][1] = covQ12trans[0][1];
+  discProcessNoiseCov[3][2] = covQ12trans[0][2];
+  discProcessNoiseCov[3][3] = covQ22[0][0];
+  discProcessNoiseCov[3][4] = covQ22[0][1];
+  discProcessNoiseCov[3][5] = covQ22[0][2];
+  discProcessNoiseCov[4][0] = covQ12trans[1][0];
+  discProcessNoiseCov[4][1] = covQ12trans[1][1];
+  discProcessNoiseCov[4][2] = covQ12trans[1][2];
+  discProcessNoiseCov[4][3] = covQ22[1][0];
+  discProcessNoiseCov[4][4] = covQ22[1][1];
+  discProcessNoiseCov[4][5] = covQ22[1][2];
+  discProcessNoiseCov[5][0] = covQ12trans[2][0];
+  discProcessNoiseCov[5][1] = covQ12trans[2][1];
+  discProcessNoiseCov[5][2] = covQ12trans[2][2];
+  discProcessNoiseCov[5][3] = covQ22[2][0];
+  discProcessNoiseCov[5][4] = covQ22[2][1];
+  discProcessNoiseCov[5][5] = covQ22[2][2];
 
   // State Transition Matrix phi
-  double phi1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
-         phi2[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+  double phi11[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
+         phi12[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
          phi[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                       {0, 0, 0, 1, 0, 0}, {0, 0, 0, 0, 1, 0}, {0, 0, 0, 0, 0, 1}};
-  double phi11[3][3], phi12[3][3];
-  double fact1 = sin(normRotEst * sampleTime);
-  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact1, *phi11, 3, 3);
-  double fact2 = (1 - cos(normRotEst * sampleTime)) / pow(normRotEst, 2);
-  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi12, 3, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*phi12, fact2, *phi12, 3, 3);
-  MatrixOperations<double>::subtract(*identityMatrix3, *phi11, *phi11, 3, 3);
-  MatrixOperations<double>::add(*phi11, *phi12, *phi1, 3, 3);
+  double phi11_1[3][3], phi11_2[3][3], phi11_01[3][3];
+  double fact11_1 = sin(normRotEst * sampleTime) / normRotEst;
+  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact11_1, *phi11_1, 3, 3);
+  double fact11_2 = (1 - cos(normRotEst * sampleTime)) / pow(normRotEst, 2);
+  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi11_2, 3, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*phi11_2, fact11_2, *phi11_2, 3, 3);
+  MatrixOperations<double>::subtract(*identityMatrix3, *phi11_1, *phi11_01, 3, 3);
+  MatrixOperations<double>::add(*phi11_01, *phi11_2, *phi11, 3, 3);
 
-  double phi21[3][3], phi22[3][3];
-  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact2, *phi21, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*identityMatrix3, sampleTime, *phi22, 3, 3);
-  MatrixOperations<double>::subtract(*phi21, *phi22, *phi21, 3, 3);
-  double fact3 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
-  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi22, 3, 3, 3);
-  MatrixOperations<double>::multiplyScalar(*phi22, fact3, *phi22, 3, 3);
-  MatrixOperations<double>::subtract(*phi21, *phi22, *phi2, 3, 3);
+  double phi12_0[3][3], phi12_1[3][3], phi12_2[3][3], phi12_01[3][3];
+  double fact12_0 = fact11_2;
+  MatrixOperations<double>::multiplyScalar(*crossRotEst, fact12_0, *phi12_0, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*identityMatrix3, sampleTime, *phi12_1, 3, 3);
+  double fact12_2 = (normRotEst * sampleTime - sin(normRotEst * sampleTime) / pow(normRotEst, 3));
+  MatrixOperations<double>::multiply(*crossRotEst, *crossRotEst, *phi12_2, 3, 3, 3);
+  MatrixOperations<double>::multiplyScalar(*phi12_2, fact12_2, *phi12_2, 3, 3);
+  MatrixOperations<double>::subtract(*phi12_0, *phi12_1, *phi12_01, 3, 3);
+  MatrixOperations<double>::subtract(*phi12_01, *phi12_2, *phi12, 3, 3);
 
-  phi[0][0] = phi1[0][0];
-  phi[0][1] = phi1[0][1];
-  phi[0][2] = phi1[0][2];
-  phi[0][3] = phi2[0][0];
-  phi[0][4] = phi2[0][1];
-  phi[0][5] = phi2[0][2];
-  phi[1][0] = phi1[1][0];
-  phi[1][1] = phi1[1][1];
-  phi[1][2] = phi1[1][2];
-  phi[1][3] = phi2[1][0];
-  phi[1][4] = phi2[1][1];
-  phi[1][5] = phi2[1][2];
-  phi[2][0] = phi1[2][0];
-  phi[2][1] = phi1[2][1];
-  phi[2][2] = phi1[2][2];
-  phi[2][3] = phi2[2][0];
-  phi[2][4] = phi2[2][1];
-  phi[2][5] = phi2[2][2];
+  phi[0][0] = phi11[0][0];
+  phi[0][1] = phi11[0][1];
+  phi[0][2] = phi11[0][2];
+  phi[0][3] = phi12[0][0];
+  phi[0][4] = phi12[0][1];
+  phi[0][5] = phi12[0][2];
+  phi[1][0] = phi11[1][0];
+  phi[1][1] = phi11[1][1];
+  phi[1][2] = phi11[1][2];
+  phi[1][3] = phi12[1][0];
+  phi[1][4] = phi12[1][1];
+  phi[1][5] = phi12[1][2];
+  phi[2][0] = phi11[2][0];
+  phi[2][1] = phi11[2][1];
+  phi[2][2] = phi11[2][2];
+  phi[2][3] = phi12[2][0];
+  phi[2][4] = phi12[2][1];
+  phi[2][5] = phi12[2][2];
 
   // Propagated Quaternion
-  double rotSin[3] = {0, 0, 0}, omega1[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  double rotSin[3] = {0, 0, 0}, rotCosMat[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   double rotCos = cos(0.5 * normRotEst * sampleTime);
   double sinFac = sin(0.5 * normRotEst * sampleTime) / normRotEst;
   VectorOperations<double>::mulScalar(rotRateEst, sinFac, rotSin, 3);
@@ -1148,25 +1101,26 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
   double skewSin[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   MathOperations<double>::skewMatrix(rotSin, *skewSin);
 
-  MatrixOperations<double>::multiplyScalar(*identityMatrix3, rotCos, *omega1, 3, 3);
-  MatrixOperations<double>::subtract(*omega1, *skewSin, *omega1, 3, 3);
-  double omega[4][4] = {{omega1[0][0], omega1[0][1], omega1[0][2], rotSin[0]},
-                        {omega1[1][0], omega1[1][1], omega1[1][2], rotSin[1]},
-                        {omega1[2][0], omega1[2][1], omega1[2][2], rotSin[2]},
+  MatrixOperations<double>::multiplyScalar(*identityMatrix3, rotCos, *rotCosMat, 3, 3);
+  double subMatUL[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MatrixOperations<double>::subtract(*rotCosMat, *skewSin, *subMatUL, 3, 3);
+  double omega[4][4] = {{subMatUL[0][0], subMatUL[0][1], subMatUL[0][2], rotSin[0]},
+                        {subMatUL[1][0], subMatUL[1][1], subMatUL[1][2], rotSin[1]},
+                        {subMatUL[2][0], subMatUL[2][1], subMatUL[2][2], rotSin[2]},
                         {-rotSin[0], -rotSin[1], -rotSin[2], rotCos}};
   MatrixOperations<double>::multiply(*omega, quatBJ, propagatedQuaternion, 4, 4, 1);
 
   // Update Covariance Matrix
-  double cov1[6][6], cov2[6][6], transDiscTimeMatrix[6][6], transPhi[6][6];
+  double cov0[6][6], cov1[6][6], transPhi[6][6], transDiscTimeMatrix[6][6];
+  MatrixOperations<double>::transpose(*phi, *transPhi, 6);
+  MatrixOperations<double>::multiply(*covMatPlus, *transPhi, *cov0, 6, 6, 6);
+  MatrixOperations<double>::multiply(*phi, *cov0, *cov0, 6, 6, 6);
+
   MatrixOperations<double>::transpose(*discTimeMatrix, *transDiscTimeMatrix, 6);
   MatrixOperations<double>::multiply(*discProcessNoiseCov, *transDiscTimeMatrix, *cov1, 6, 6, 6);
   MatrixOperations<double>::multiply(*discTimeMatrix, *cov1, *cov1, 6, 6, 6);
 
-  MatrixOperations<double>::transpose(*phi, *transPhi, 6);
-  MatrixOperations<double>::multiply(*covMatPlus, *transPhi, *cov2, 6, 6, 6);
-  MatrixOperations<double>::multiply(*phi, *cov2, *cov2, 6, 6, 6);
-
-  MatrixOperations<double>::add(*cov2, *cov1, *initialCovarianceMatrix, 6, 6);
+  MatrixOperations<double>::add(*cov0, *cov1, *initialCovarianceMatrix, 6, 6);
   validMekf = true;
 
   // Discrete Time Step

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -20,7 +20,7 @@
 
 #include "../controllerdefinitions/AcsCtrlDefinitions.h"
 #include "AcsParameters.h"
-#include "config/classIds.h"
+#include "eive/resultClassIds.h"
 
 class MultiplicativeKalmanFilter {
  public:
@@ -61,17 +61,13 @@ class MultiplicativeKalmanFilter {
                         const bool validGYRs_, const double *magneticField_,
                         const bool validMagField_, const double *sunDir_, const bool validSS,
                         const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-                        const bool validMagModel, acsctrl::MekfData *mekfData);
+                        const bool validMagModel, double sampleTime, acsctrl::MekfData *mekfData);
 
-  // Declaration of Events (like init) and memberships
-  // static const uint8_t INTERFACE_ID = CLASS_ID::MEKF; //CLASS IDS ND
-  // (/config/returnvalues/classIDs.h) static const Event RESET  =
-  // MAKE_EVENT(1,severity::INFO);//typedef uint32_t Event (Event.h), should be
   // resetting Mekf
-  static const uint8_t INTERFACE_ID = CLASS_ID::KALMAN;
-  static const ReturnValue_t KALMAN_NO_GYR_MEAS = MAKE_RETURN_CODE(0x01);
-  static const ReturnValue_t KALMAN_NO_MODEL = MAKE_RETURN_CODE(0x02);
-  static const ReturnValue_t KALMAN_INVERSION_FAILED = MAKE_RETURN_CODE(0x03);
+  static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
+  static constexpr ReturnValue_t KALMAN_NO_GYR_MEAS = returnvalue::makeCode(IF_KAL_ID, 1);
+  static constexpr ReturnValue_t KALMAN_NO_MODEL = returnvalue::makeCode(IF_KAL_ID, 2);
+  static constexpr ReturnValue_t KALMAN_INVERSION_FAILED = returnvalue::makeCode(IF_KAL_ID, 3);
 
  private:
   /*Parameters*/
@@ -79,7 +75,6 @@ class MultiplicativeKalmanFilter {
   AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
   double quaternion_STR_SB[4];
   bool validInit;
-  double sampleTime = 0.1;
 
   /*States*/
   double initialQuaternion[4];          /*after reset?QUEST*/

mission/controller/acs/Navigation.cpp

@@ -39,7 +39,7 @@ void Navigation::useMekf(ACS::SensorValues *sensorValues,
         mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
         susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
         susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
-        mgmDataProcessed->magIgrfModel.isValid(),
+        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime,
         mekfData);  // VALIDS FOR QUAT AND RATE ??
   } else {
     multiplicativeKalmanFilter.init(

mission/controller/acs/SensorProcessing.cpp

@@ -1,3 +1,10 @@
+/*
+ * SensorProcessing.cpp
+ *
+ *  Created on: 7 Mar 2022
+ *      Author: Robin Marquardt
+ */
+
 #include "SensorProcessing.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
@@ -14,8 +21,7 @@
 
 using namespace Math;
 
-SensorProcessing::SensorProcessing(AcsParameters *acsParameters_)
-    : savedMgmVecTot{0, 0, 0}, validMagField(false), validGcLatitude(false) {}
+SensorProcessing::SensorProcessing(AcsParameters *acsParameters_) {}
 
 SensorProcessing::~SensorProcessing() {}
 
@@ -27,19 +33,35 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
                                   acsctrl::GpsDataProcessed *gpsDataProcessed,
                                   const double gpsAltitude, bool gpsValid,
                                   acsctrl::MgmDataProcessed *mgmDataProcessed) {
+  // ---------------- IGRF- 13 Implementation here ------------------------------------------------
+  double magIgrfModel[3] = {0.0, 0.0, 0.0};
+  if (gpsValid) {
+    // Should be existing class object which will be called and modified here.
+    Igrf13Model igrf13;
+    // So the line above should not be done here. Update: Can be done here as long updated coffs
+    //		stored in acsParameters ?
+    igrf13.schmidtNormalization();
+    igrf13.updateCoeffGH(timeOfMgmMeasurement);
+    // maybe put a condition here, to only update after a full day, this
+    // class function has around 700 steps to perform
+    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
+                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
+  }
   if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
     {
       PoolReadGuard pg(mgmDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(mgmDataProcessed->magIgrfModel.value, zeroVector, 3 * sizeof(double));
+        float zeroVec[3] = {0.0, 0.0, 0.0};
+        std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         mgmDataProcessed->setValidity(false, true);
+        std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double));
+        mgmDataProcessed->magIgrfModel.setValid(gpsValid);
       }
     }
     return;
@@ -47,71 +69,72 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   float mgm0ValueNoBias[3] = {0, 0, 0}, mgm1ValueNoBias[3] = {0, 0, 0},
         mgm2ValueNoBias[3] = {0, 0, 0}, mgm3ValueNoBias[3] = {0, 0, 0},
         mgm4ValueNoBias[3] = {0, 0, 0};
-  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
-        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
   float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
         mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
+  float mgm0ValueCalib[3] = {0, 0, 0}, mgm1ValueCalib[3] = {0, 0, 0}, mgm2ValueCalib[3] = {0, 0, 0},
+        mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
   float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
 
   if (mgm0valid) {
-    VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
+                                      mgm0ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm0ValueBody, mgmParameters->mgm0hardIronOffset,
+                                      mgm0ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm0softIronInverse[0], mgm0ValueNoBias,
                                       mgm0ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
-                                      mgm0ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionNumerator[i] += mgm0ValueCalib[i] / mgmParameters->mgm02variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
     }
   }
   if (mgm1valid) {
-    VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
+                                      mgm1ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm1ValueBody, mgmParameters->mgm1hardIronOffset,
+                                      mgm1ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm1softIronInverse[0], mgm1ValueNoBias,
                                       mgm1ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
-                                      mgm1ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionNumerator[i] += mgm1ValueCalib[i] / mgmParameters->mgm13variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
   if (mgm2valid) {
-    VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
+                                      mgm2ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm2ValueBody, mgmParameters->mgm2hardIronOffset,
+                                      mgm2ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm2softIronInverse[0], mgm2ValueNoBias,
                                       mgm2ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
-                                      mgm2ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
+      sensorFusionNumerator[i] += mgm2ValueCalib[i] / mgmParameters->mgm02variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
     }
   }
   if (mgm3valid) {
-    VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
-                                      3);
+    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
+                                      mgm3ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm3ValueBody, mgmParameters->mgm3hardIronOffset,
+                                      mgm3ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm3softIronInverse[0], mgm3ValueNoBias,
                                       mgm3ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
-                                      mgm3ValueBody, 3, 3, 1);
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
+      sensorFusionNumerator[i] += mgm3ValueCalib[i] / mgmParameters->mgm13variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
     }
   }
   if (mgm4valid) {
-    float mgm4ValueNT[3];
-    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueNT, 3);  // uT to nT
-    VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
+    float mgm4ValueUT[3];
+    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueUT, 3);  // nT to uT
+    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueUT,
+                                      mgm4ValueBody, 3, 3, 1);
+    VectorOperations<float>::subtract(mgm4ValueBody, mgmParameters->mgm4hardIronOffset,
                                       mgm4ValueNoBias, 3);
     MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
                                       mgm4ValueCalib, 3, 3, 1);
-    MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
-                                      mgm4ValueBody, 3, 3, 1);
+
     for (uint8_t i = 0; i < 3; i++) {
-      sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
+      sensorFusionNumerator[i] += mgm4ValueCalib[i] / mgmParameters->mgm4variance[i];
       sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
     }
   }
@@ -128,35 +151,23 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
     for (uint8_t i = 0; i < 3; i++) {
       mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
       savedMgmVecTot[i] = mgmVecTot[i];
+      mgmVecTotDerivativeValid = true;
     }
   }
   timeOfSavedMagFieldEst = timeOfMgmMeasurement;
 
-  // ---------------- IGRF- 13 Implementation here ------------------------------------------------
-  double magIgrfModel[3] = {0.0, 0.0, 0.0};
-  if (gpsValid) {
-    // Should be existing class object which will be called and modified here.
-    Igrf13Model igrf13;
-    // So the line above should not be done here. Update: Can be done here as long updated coffs
-    //		stored in acsParameters ?
-    igrf13.updateCoeffGH(timeOfMgmMeasurement);
-    // maybe put a condition here, to only update after a full day, this
-    // class function has around 700 steps to perform
-    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
-                        gpsAltitude, timeOfMgmMeasurement, magIgrfModel);
-  }
   {
     PoolReadGuard pg(mgmDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm0vec.value, mgm0ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm0vec.setValid(mgm0valid);
-      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm1vec.value, mgm1ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm1vec.setValid(mgm1valid);
-      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm2vec.value, mgm2ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm2vec.setValid(mgm2valid);
-      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm3vec.value, mgm3ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm3vec.setValid(mgm3valid);
-      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueBody, 3 * sizeof(float));
+      std::memcpy(mgmDataProcessed->mgm4vec.value, mgm4ValueCalib, 3 * sizeof(float));
       mgmDataProcessed->mgm4vec.setValid(mgm4valid);
       std::memcpy(mgmDataProcessed->mgmVecTot.value, mgmVecTot, 3 * sizeof(double));
       mgmDataProcessed->mgmVecTot.setValid(true);
@@ -180,6 +191,25 @@ void SensorProcessing::processSus(
     timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
     const AcsParameters::SunModelParameters *sunModelParameters,
     acsctrl::SusDataProcessed *susDataProcessed) {
+  /* -------- Sun Model Direction (IJK frame) ------- */
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
+
+  // Julean Centuries
+  double sunIjkModel[3] = {0.0, 0.0, 0.0};
+  double JC2000 = JD2000 / 36525.;
+
+  double meanLongitude =
+      sunModelParameters->omega_0 + (sunModelParameters->domega * JC2000) * PI / 180.;
+  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
+
+  double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
+                             sunModelParameters->p2 * sin(2 * meanAnomaly);
+
+  double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
+
+  sunIjkModel[0] = cos(eclipticLongitude);
+  sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
+  sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
   if (sus0valid) {
     sus0valid = susConverter.checkSunSensorData(sus0Value);
   }
@@ -222,22 +252,24 @@ void SensorProcessing::processSus(
     {
       PoolReadGuard pg(susDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus2vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus3vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus4vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus5vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus6vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus7vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus8vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus9vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus10vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sus11vec.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->susVecTot.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVector, 3 * sizeof(float));
-        std::memcpy(susDataProcessed->sunIjkModel.value, zeroVector, 3 * sizeof(double));
+        float zeroVec[3] = {0.0, 0.0, 0.0};
+        std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(float));
+        std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(float));
         susDataProcessed->setValidity(false, true);
+        std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double));
+        susDataProcessed->sunIjkModel.setValid(true);
       }
     }
     return;
@@ -256,16 +288,6 @@ void SensorProcessing::processSus(
                                              susParameters->sus0coeffBeta),
         sus0VecBody, 3, 3, 1);
   }
-  {
-    PoolReadGuard pg(susDataProcessed);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susDataProcessed->sus0vec.value, sus0VecBody, 3 * sizeof(float));
-      susDataProcessed->sus0vec.setValid(sus0valid);
-      if (!sus0valid) {
-        std::memcpy(susDataProcessed->sus0vec.value, zeroVector, 3 * sizeof(float));
-      }
-    }
-  }
   if (sus1valid) {
     MatrixOperations<float>::multiply(
         susParameters->sus1orientationMatrix[0],
@@ -273,16 +295,6 @@ void SensorProcessing::processSus(
                                              susParameters->sus1coeffBeta),
         sus1VecBody, 3, 3, 1);
   }
-  {
-    PoolReadGuard pg(susDataProcessed);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(susDataProcessed->sus1vec.value, sus1VecBody, 3 * sizeof(float));
-      susDataProcessed->sus1vec.setValid(sus1valid);
-      if (!sus1valid) {
-        std::memcpy(susDataProcessed->sus1vec.value, zeroVector, 3 * sizeof(float));
-      }
-    }
-  }
   if (sus2valid) {
     MatrixOperations<float>::multiply(
         susParameters->sus2orientationMatrix[0],
@@ -387,30 +399,10 @@ void SensorProcessing::processSus(
     for (uint8_t i = 0; i < 3; i++) {
       susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
       savedSusVecTot[i] = susVecTot[i];
+      susVecTotDerivativeValid = true;
     }
   }
   timeOfSavedSusDirEst = timeOfSusMeasurement;
-
-  /* -------- Sun Model Direction (IJK frame) ------- */
-  // if (useSunModel) eventuell
-  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
-
-  // Julean Centuries
-  double sunIjkModel[3] = {0.0, 0.0, 0.0};
-  double JC2000 = JD2000 / 36525;
-
-  double meanLongitude =
-      (sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI / 180;
-  double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
-
-  double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
-                             sunModelParameters->p2 * sin(2 * meanAnomaly);
-
-  double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
-
-  sunIjkModel[0] = cos(eclipticLongitude);
-  sunIjkModel[1] = sin(eclipticLongitude) * cos(epsilon);
-  sunIjkModel[2] = sin(eclipticLongitude) * sin(epsilon);
   {
     PoolReadGuard pg(susDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
@@ -467,6 +459,7 @@ void SensorProcessing::processGyr(
     {
       PoolReadGuard pg(gyrDataProcessed);
       if (pg.getReadResult() == returnvalue::OK) {
+        double zeroVector[3] = {0.0, 0.0, 0.0};
         std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double));
         std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double));
         std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double));
@@ -486,6 +479,8 @@ void SensorProcessing::processGyr(
     const double gyr0Value[3] = {gyr0axXvalue, gyr0axYvalue, gyr0axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr0orientationMatrix[0], gyr0Value,
                                        gyr0ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr0ValueBody, gyrParameters->gyr0bias, gyr0ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr0ValueBody, M_PI / 180, gyr0ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr0ValueBody[i] / gyrParameters->gyr02variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
@@ -495,6 +490,8 @@ void SensorProcessing::processGyr(
     const double gyr1Value[3] = {gyr1axXvalue, gyr1axYvalue, gyr1axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr1orientationMatrix[0], gyr1Value,
                                        gyr1ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr1ValueBody, gyrParameters->gyr1bias, gyr1ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr1ValueBody, M_PI / 180, gyr1ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr1ValueBody[i] / gyrParameters->gyr13variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
@@ -504,6 +501,8 @@ void SensorProcessing::processGyr(
     const double gyr2Value[3] = {gyr2axXvalue, gyr2axYvalue, gyr2axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr2orientationMatrix[0], gyr2Value,
                                        gyr2ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr2ValueBody, gyrParameters->gyr2bias, gyr2ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr2ValueBody, M_PI / 180, gyr2ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr2ValueBody[i] / gyrParameters->gyr02variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr02variance[i];
@@ -513,6 +512,8 @@ void SensorProcessing::processGyr(
     const double gyr3Value[3] = {gyr3axXvalue, gyr3axYvalue, gyr3axZvalue};
     MatrixOperations<double>::multiply(gyrParameters->gyr3orientationMatrix[0], gyr3Value,
                                        gyr3ValueBody, 3, 3, 1);
+    VectorOperations<double>::subtract(gyr3ValueBody, gyrParameters->gyr3bias, gyr3ValueBody, 3);
+    VectorOperations<double>::mulScalar(gyr3ValueBody, M_PI / 180, gyr3ValueBody, 3);
     for (uint8_t i = 0; i < 3; i++) {
       sensorFusionNumerator[i] += gyr3ValueBody[i] / gyrParameters->gyr13variance[i];
       sensorFusionDenominator[i] += 1 / gyrParameters->gyr13variance[i];
@@ -523,7 +524,7 @@ void SensorProcessing::processGyr(
   // take ADIS measurements, if both avail
   // if just one ADIS measurement avail, perform sensor fusion
   double gyrVecTot[3] = {0.0, 0.0, 0.0};
-  if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == gyrParameters->PreferAdis::YES) {
+  if ((gyr0valid && gyr2valid) && gyrParameters->preferAdis == true) {
     double gyr02ValuesSum[3];
     VectorOperations<double>::add(gyr0ValueBody, gyr2ValueBody, gyr02ValuesSum, 3);
     VectorOperations<double>::mulScalar(gyr02ValuesSum, .5, gyrVecTot, 3);
@@ -550,30 +551,45 @@ void SensorProcessing::processGyr(
   }
 }
 
-void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
+void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
+                                  const double gpsAltitude, const double gpsUnixSeconds,
                                   const bool validGps,
+                                  const AcsParameters::GpsParameters *gpsParameters,
                                   acsctrl::GpsDataProcessed *gpsDataProcessed) {
   // name to convert not process
-  double gdLongitude, gcLatitude;
+  double gdLongitude = 0, gcLatitude = 0, posSatE[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
   if (validGps) {
     // Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
-    gdLongitude = gps0longitude * PI / 180;
-    double latitudeRad = gps0latitude * PI / 180;
+    gdLongitude = gpsLongitude * PI / 180.;
+    double latitudeRad = gpsLatitude * PI / 180.;
     double eccentricityWgs84 = 0.0818195;
     double factor = 1 - pow(eccentricityWgs84, 2);
     gcLatitude = atan(factor * tan(latitudeRad));
-    // validGcLatitude = true;
+
+    // Calculation of the satellite velocity in earth fixed frame
+    double posSatE[3] = {0, 0, 0}, deltaDistance[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
+    MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, gpsAltitude, posSatE);
+    if (validSavedPosSatE &&
+        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
+      VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
+      double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
+      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
+    }
+    savedPosSatE[0] = posSatE[0];
+    savedPosSatE[1] = posSatE[1];
+    savedPosSatE[2] = posSatE[2];
+
+    timeOfSavedPosSatE = gpsUnixSeconds;
+    validSavedPosSatE = true;
   }
   {
     PoolReadGuard pg(gpsDataProcessed);
     if (pg.getReadResult() == returnvalue::OK) {
       gpsDataProcessed->gdLongitude.value = gdLongitude;
       gpsDataProcessed->gcLatitude.value = gcLatitude;
-      gpsDataProcessed->setValidity(validGps, validGps);
-      if (!validGps) {
-        gpsDataProcessed->gdLongitude.value = 0.0;
-        gpsDataProcessed->gcLatitude.value = 0.0;
-      }
+      std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
+      std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
+      gpsDataProcessed->setValidity(validGps, true);
     }
   }
 }
@@ -585,10 +601,12 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
                                acsctrl::GpsDataProcessed *gpsDataProcessed,
                                const AcsParameters *acsParameters) {
   sensorValues->update();
-  processGps(sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
-             (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
-              sensorValues->gpsSet.altitude.isValid()),
-             gpsDataProcessed);
+  processGps(
+      sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
+      sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value,
+      (sensorValues->gpsSet.latitude.isValid() && sensorValues->gpsSet.longitude.isValid() &&
+       sensorValues->gpsSet.altitude.isValid() && sensorValues->gpsSet.unixSeconds.isValid()),
+      &acsParameters->gpsParameters, gpsDataProcessed);
 
   processMgm(sensorValues->mgm0Lis3Set.fieldStrengths.value,
              sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),